2 citations · 2 across the 14 of their papers we have counts for
15 papers
Fully Byzantine-Resilient Multi-Agent Reinforcement Learning
Haejoon Lee, Dimitra Panagou
We study distributed Byzantine-resilient actor-critic multi-agent reinforcement learning (AC-MARL), where agents collectively learn policies through local interactions. Existing me…
Distributed Model-Based Diffusion For Scalable Multi-Robot Trajectory Optimization
Haejoon Lee, Xinyi Wang, Taekyung Kim +1
Trajectory optimization for multi-robot systems remains a critical challenge, particularly when navigating highly non-convex, non-linear, and non-differentiable environments. While…
Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach
Daniel M. Cherenson, Haejoon Lee, Taekyung Kim +1
We study how to ensure probabilistic safety for nonlinear systems under distributional ambiguity. Our approach builds on a backup-based safety filtering framework that switches bet…
Robust Multi-Agent LLMs under Byzantine Faults
Haejoon Lee, Vincent-Daniel Yun, Dimitra Panagou +1
Large language model (LLM) agents increasingly collaborate over peer-to-peer networks to improve their reliability. However, these same interactions can also introduce vulnerabilit…
Fully Byzantine-Resilient Distributed Multi-Agent Q-Learning
Haejoon Lee, Dimitra Panagou
We study Byzantine-resilient distributed multi-agent reinforcement learning (MARL), where agents collaboratively learn optimal value functions over a compromised communication netw…
Partial Resilient Leader-Follower Consensus in Time-Varying Graphs
Haejoon Lee, Dimitra Panagou
This work studies resilient leader-follower consensus with a bounded number of adversaries. Existing approaches typically require robustness conditions of the entire network to gua…
Multi-Robot Allocation for Information Gathering in Non-Uniform Spatiotemporal Environments
Kaleb Ben Naveed, Haejoon Lee, Dimitra Panagou
Autonomous robots are increasingly deployed to estimate spatiotemporal fields (e.g., wind, temperature, gas concentration) that vary across space and time. We consider environments…
Combinatorial Control Barrier Functions: Nested Boolean and p-choose-r Compositions of Safety Constraints
Pio Ong, Haejoon Lee, Tamas G. Molnar +2
This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial oper…
Reformulations of Quadratic Programs for Lipschitz Continuity
Devansh R. Agrawal, Haejoon Lee, Dimitra Panagou
Optimization-based controllers often lack regularity guarantees, such as Lipschitz continuity, when multiple constraints are present. When used to control a dynamical system, these…
Minimal Construction of Graphs with Maximum Robustness
Haejoon Lee, Dimitra Panagou
The notions of -robustness and -robustness of a network have been earlier introduced in the literature to achieve resilient consensus in the presence of misbehaving agent…
Feasibility Analysis and Constraint Selection in Optimization-Based Controllers
Panagiotis Rousseas, Haejoon Lee, Dimos V. Dimarogonas +1
Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where…
Enabling Safety for Aerial Robots: Planning and Control Architectures
Kaleb Ben Naveed, Devansh R. Agrawal, Daniel M. Cherenson +6
Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspecti…
Distributed Resilience-Aware Control in Multi-Robot Networks
Haejoon Lee, Dimitra Panagou
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and glo…
Construction of the Sparsest Maximally r-Robust Graphs
Haejoon Lee, Dimitra Panagou
In recent years, the notion of r-robustness for the communication graph of the network has been introduced to address the challenge of achieving consensus in the presence of misbeh…
Maintaining Strong r-Robustness in Reconfigurable Multi-Robot Networks using Control Barrier Functions
Haejoon Lee, Dimitra Panagou
In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agent…