6 papers
Conflict-Aware Switching for CBF-CLF-Based Multi-Goal Navigation
Rohan Walia, Kevin Leahy
Quadratic programs (QPs) using Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) are widely used for safe control in reach-and-avoid navigation. However, the i…
Robust Multi-Agent Target Tracking in Intermittent Communication Environments via Analytical Belief Merging
Mohamed Abdelnaby, Samuel Honor, Kevin Leahy
Autonomous multi-agent target tracking in GPS-denied and communication-restricted environments (e.g., underwater exploration, subterranean search and rescue, and adversarial domain…
Complex-Valued GNNs for Distributed Basis-Invariant Control of Planar Systems
Samuel Honor, Mohamed Abdelnaby, Kevin Leahy
Graph neural networks (GNNs) are a well-regarded tool for learned control of networked dynamical systems due to their ability to be deployed in a distributed manner. However, curre…
Real-Time Optical Communication Using Event-Based Vision with Moving Transmitters
Harmeet Dhillon, Pranay Katyal, Brendan Long +3
In multi-robot systems, traditional radio frequency (RF) communication struggles with contention and jamming. Optical communication offers a strong alternative. However, convention…
Belief Space Control of Safety-Critical Systems Under State-Dependent Measurement Noise
Rohan Walia, Mitchell Black, Andrew Schoer +1
Safety-critical control is imperative for deploying autonomous systems in the real world. Control Barrier Functions (CBFs) offer strong safety guarantees when accurate system and s…
Multi-layer Motion Planning with Kinodynamic and Spatio-Temporal Constraints
Jeel Chatrola, Abhiroop Ajith, Kevin Leahy +1
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes pot…