39 citations · 63 across the 21 of their papers we have counts for
9 papers · 1 filter
Auditable and Deployable Multi-Agent Motion Planning via Posetal Games from Legal Guidelines
Florian Lercher, Karan Mahesh, Yujun Huang +6
When robots are deployed in the real-world, they must interact with other agents and accomplish their own goals while adhering to legal constraints. These potentially conflicting o…
Expressiveness, Equivalence, and Uncertainty in Velocity Obstacles and Closest Point of Approach Metrics
Elizabeth Dietrich, Liam M. Imagawa, Hanna Krasowski +3
Time to Closest Point of Approach (TCPA), Distance to Closest Point of Approach (DCPA), and Velocity Obstacles (VOs), are widely used to assess and mitigate collision risk in auton…
Decentralized Safe Multi-Agent Reinforcement Learning via Predictive Shielding
Yacine El Yamani, Hanna Krasowski, Elena Vanneaux
Environments are increasingly populated by multiple robots performing independent tasks with limited prior knowledge of each other. Deploying such multi-agent systems presents sign…
Staying on Spec: Real-Time Monitoring under Uncertainty with a Maritime Case Study
Elizabeth Dietrich, Hanna Krasowski, Emir Cem Gezer +3
Robotic systems must operate under uncertainty while satisfying complex task and safety specifications. Monitoring such specifications under uncertainty remains challenging, as exi…
Learning-enabled Parameter Synthesis for Nonlinear Systems from Signal Temporal Logic
Alex Beaudin, Hanna Krasowski, Eric Palanques-Tost +2
Signal Temporal Logic (STL) is increasingly used to describe interpretable objectives and constraints for optimal control and learning methods, especially when no target time serie…
X-Safe: Embodiment-Agnostic Safeguarding for Robot Arm Manipulation Policies via Action Masking
Alex Beaudin, Hanna Krasowski, Kartik Nagpal +3
Ensuring safety of learning-enabled robotic manipulation across diverse embodiments and tasks still requires significant manual engineering. For collision avoidance, existing appro…
Finite-Step Invariant Sets for Hybrid Systems with Probabilistic Guarantees
Varun Madabushi, Elizabeth Dietrich, Hanna Krasowski +1
Poincare return maps are a fundamental tool for analyzing periodic orbits in hybrid dynamical systems, including legged locomotion, power electronics, and other cyber-physical syst…
Probably Approximately Correct Guarantees for Data-Driven Reachability Analysis: A Theoretical and Empirical Comparison
Elizabeth Dietrich, Hanna Krasowski, Murat Arcak
Reachability analysis evaluates system safety by identifying the set in which states may evolve over a time horizon. Data-driven reachability analysis estimates reachable sets and…
Importance Sampling for Statistical Certification of Viable Initial Sets
Elizabeth Dietrich, Hanna Krasowski, Vegard Flovik +1
We study the problem of statistically certifying viable initial sets (VISs)---sets of initial conditions whose trajectories satisfy a given control specification. While VISs can be…