4 papers
GUARDIAN: Safety Filtering for Systems with Perception Models Subject to Adversarial Attacks
Nicholas Rober, Alex Rose, Jonathan P. How
Safety filtering is an effective method for enforcing constraints in safety-critical systems, but existing methods typically assume perfect state information. This limitation is es…
Efficient Probabilistic Planning with Maximum-Coverage Distributionally Robust Backward Reachable Trees
Alex Rose, Naman Aggarwal, Christopher Jewison +1
This paper presents a new multi-query motion planning algorithm for linear Gaussian systems with the goal of reaching a Euclidean ball with high probability. We develop a new formu…
GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM
Annika Thomas, Aneesa Sonawalla, Alex Rose +1
3D Gaussian splatting has emerged as an expressive scene representation for RGB-D visual SLAM, but its application to large-scale, multi-agent outdoor environments remains unexplor…
REVISE: Robust Probabilistic Motion Planning in a Gaussian Random Field
Alex Rose, Naman Aggarwal, Christopher Jewison +1
This paper presents Robust samplE-based coVarIance StEering (REVISE), a multi-query algorithm that generates robust belief roadmaps for dynamic systems navigating through spatially…