7 papers
Distributionally Robust Adaptive Iterative Covariance Steering for Small-Body Proximity Operations
Vivek Khatana, Aditya Gahlawat, Naira Hovakimyan +1
Autonomous small-body proximity operations require continuous-thrust guidance under uncertain gravity, solar-radiation pressure (SRP), and stochastic disturbances. We combine itera…
Verifier-Mediated Multi-LLM Coordination for Multi-Robot Path Planning
Vivek Khatana, Zijian Song, Naira Hovakimyan +1
Foundation models are increasingly used for high-level multi-robot task planning, yet independently generated symbolic plans can become jointly infeasible after geometric grounding…
Uncertainty-Aware Vision-Based Autonomous Aerial Refueling
Minhyuk Jang, Thinh Nguyen, Vivek Khatana +3
Probe-and-drogue refueling (PDR) requires accurate terminal alignment of a receiver probe with an uninstrumented, dynamically moving drogue despite uncertainty in both relative-sta…
Networked Control and Mean Field Problems Under Diagonal Dominance: Decentralized and Social Optimality
Vivek Khatana, Duo Wang, Petros Voulgaris +2
In this article, we employ an input-output approach to expand the study of cooperative multi-agent control and optimization problems characterized by mean-field interactions that a…
Wasserstein Distributionally Robust Adaptive Covariance Steering
Aditya Gahlawat, Vivek Khatana, Duo Wang +3
We present a methodology for predictable and safe covariance steering control of uncertain nonlinear stochastic processes. The systems under consideration are subject to general un…
Verification and Validation of a Vision-Based Landing System for Autonomous VTOL Air Taxis
Ayoosh Bansal, Duo Wang, Mikael Yeghiazaryan +9
Autonomous air taxis are poised to revolutionize urban mass transportation, however, ensuring their safety and reliability remains an open challenge. Validating autonomy solutions…
Bayesian Data Augmentation and Training for Perception DNN in Autonomous Aerial Vehicles
Ashik E Rasul, Humaira Tasnim, Hyung-Jin Yoon +5
Learning-based solutions have enabled incredible capabilities for autonomous systems. Autonomous vehicles, both aerial and ground, rely on DNN for various integral tasks, including…