9 papers
Freehand Sketching for End-User Programming of Robot Swarms
Riwa Karam, Ian Kuo, Magnus Egerstedt
Robot swarms are increasingly used in applications where accessible interaction with non-expert users is desirable. This paper investigates freehand sketching as an end-user progra…
On the Degree of Safety: Beyond Safe or Unsafe with Control Barrier Functions
Ruoyu Lin, Fabio Pasqualetti, Magnus Egerstedt
A valid control barrier function (CBF) certifies if its represented safe set can be rendered forward invariant, and the sign of its value indicates whether a state is safe or not,…
Cooperative Risk-Aware Exploration in Heterogeneous Multi-Robot Systems Using Algorithmic Altruism
Brooks A. Butler, Jair Certório, João P. Hespanha +1
Multi-robot systems are well-positioned for exploration in hazardous environments, but effective deployment requires deciding not only where robots should gather information, but a…
Collaboration in Multi-Robot Systems: Taxonomy and Survey over Frameworks for Collaboration
Riwa Karam, Alexander A. Nguyen, Ruoyu Lin +4
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite…
Stochastic Control Barrier Functions under State Estimation: From Euclidean Space to Lie Groups
Ruoyu Lin, Magnus Egerstedt
Ensuring safety for autonomous systems under uncertainty remains challenging, particularly when safety of the true state is required despite the true state not being fully known. C…
Disentangled Control of Multi-Agent Systems
Ruoyu Lin, Gennaro Notomista, Magnus Egerstedt
This paper develops a general framework with convergence guarantees for multi-agent control synthesis, which applies to a wide range of problems, including those with time-varying…