4 citations · 4 across the 10 of their papers we have counts for
11 papers
A Surveillance Evasion Game with Continuous Sensor Redeployment via Bilevel Optimization
Jaehyeok Kim, Kartik A. Pant, Joseph Kinerson +4
Uncrewed Aerial Systems (UASs) have become a growing threat to the security of critical infrastructure, exploiting spatiotemporal gaps in sensor perimeters to infiltrate restricted…
Reachability-based Temporal Logic Verification for Reliable LLM-guided Human-Autonomy Teaming
Joonwon Choi, Kartik Anand Pant, Karthik Nune +1
We propose a reachability-based framework for reliable LLM-guided human-autonomy teaming (HAT) using signal temporal logic (STL). In the proposed framework, LLM is leveraged as a t…
Signal Temporal Logic Evaluation and Synthesis Using Deep Reachability Analysis and Layered Control Architecture
Joonwon Choi, Kartik Anand Pant, Youngim Nam +3
We propose a signal temporal logic (STL)-based framework that checks the feasibility of a mission described in STL and synthesizes control to safely execute it. The proposed framew…
Log-linear Dynamic Inversion for Thrusting Spacecraft on SE2(3)
Micah K. Condie, Abigaile E. Woodbury, Li-Yu Lin +3
We demonstrate that the error dynamics of a thrusting spacecraft are nearly group affine on the Lie group, and the nonlinearity can be bounded, or removed with the applic…
A Dynamically Weighted ADMM Framework for Byzantine Resilience
Vishnu Vijay, Kartik A. Pant, Minhyun Cho +1
The alternating direction of multipliers method (ADMM) is a popular method to solve distributed consensus optimization utilizing efficient communication among various nodes in the…
Energy-Constrained Resilient Multi-Robot Coverage Control
Kartik A. Pant, Jaehyeok Kim, James M. Goppert +1
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the…
SAFE-TAXI: A Hierarchical Multi-UAS Safe Auto-Taxiing Framework with Runtime Safety Assurance and Conflict Resolution
Kartik A. Pant, Li-Yu Lin, Worawis Sribunma +3
We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes…
On Enhancing Structural Resilience of Multirobot Coverage Control with Bearing Rigidity
Kartik A. Pant, Vishnu Vijay, Minhyun Cho +1
The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces sign…
Range-based Multi-Robot Integrity Monitoring Against Cyberattacks and Faults: An Anchor-Free Approach
Vishnu Vijay, Kartik A. Pant, Minhyun Cho +3
Coordination of multi-robot systems (MRSs) relies on efficient sensing and reliable communication among the robots. However, the sensors and communication channels of these robots…
MIXED-SENSE: A Mixed Reality Sensor Emulation Framework for Test and Evaluation of UAVs Against False Data Injection Attacks
Kartik A. Pant, Li-Yu Lin, Jaehyeok Kim +3
We present a high-fidelity Mixed Reality sensor emulation framework for testing and evaluating the resilience of Unmanned Aerial Vehicles (UAVs) against false data injection (FDI)…
A Closed-form Solution for the Strapdown Inertial Navigation Initial Value Problem
James Goppert, Li-Yu Lin, Kartik Pant +1
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without know…