6 papers
Neural Barriers: An Online Certifiable Learning-enhanced Adaptive High Order Safety Critical Control
Lishuo Pan, Mattia Catellani, An Cao +2
Control barrier functions are an effective model-based tool to formally certify the safety of a system. However, transferring their theoretical guarantees to real-world robotics sy…
Online Learning-Enhanced High Order Adaptive Safety Control
Lishuo Pan, Mattia Catellani, Thales C. Silva +2
Control barrier functions (CBFs) are an effective model-based tool to formally certify the safety of a system. With the growing complexity of modern control problems, CBFs have rec…
Connectivity Maintenance and Recovery for Multi-Robot Motion Planning
Yutong Wang, Lishuo Pan, Yichun Qu +2
Connectivity is crucial in many multi-robot applications, yet balancing connectivity maintenance and fleet traversability in obstacle-rich environments remains challenging. Reactiv…
Robust Trajectory Generation and Control for Quadrotor Motion Planning with Field-of-View Control Barrier Certification
Lishuo Pan, Mattia Catellani, Lorenzo Sabattini +1
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distribute…
Hierarchical Trajectory (Re)Planning for a Large Scale Swarm
Lishuo Pan, Yutong Wang, Nora Ayanian
We consider the trajectory replanning problem for a large-scale swarm in a cluttered environment. Our path planner replans for robots by utilizing a hierarchical approach, dividing…
Hierarchical Large Scale Multirobot Path (Re)Planning
Lishuo Pan, Kevin Hsu, Nora Ayanian
We consider a large-scale multi-robot path planning problem in a cluttered environment. Our approach achieves real-time replanning by dividing the workspace into cells and utilizin…