10 papers
Multi-Agent Flow Matching with Decoupled Generative Guidance
Ruoyu Lin, Magnus Egerstedt, Fabio Pasqualetti
Generative modeling is widely used for producing diverse objects from complex, multimodal distributions. However, its expressivity does not, in general, come with formal guarantees…
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 of 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…
Online Learning and Coverage of Unknown Fields Using Random-Feature Gaussian Processes
Ruijie Du, Ruoyu Lin, Yanning Shen +1
This paper proposes a framework for multi-robot systems to perform simultaneous learning and coverage of a domain of interest characterized by an unknown and potentially time-varyi…
Hamilton's Rule for Enabling Altruism in Multi-Agent Systems
Brooks A. Butler, Magnus Egerstedt
This paper explores the application of Hamilton's rule to altruistic decision-making in multi-agent systems. Inspired by biological altruism, we introduce a framework that evaluate…
Resource Allocation with Multi-Team Collaboration Based on Hamilton's Rule
Riwa Karam, Ruoyu Lin, Brooks A. Butler +1
This paper presents a multi-team collaboration strategy based on Hamilton's rule from ecology that facilitates resource allocation among multiple teams, where agents are considered…