11 papers
Multi-Agent Next-Best-View Optimization for Risk-Averse Planning
Amirhossein Mollaei Khass, Vivek Pandey, Guangyi Liu +3
Multi-agent Next-Best-View (NBV) selection for safe path planning in uncertain and unknown environments requires informative, safety-aware, and efficient coordination. Centralized…
Conflict-Aware Active Perception and Control in 3D Gaussian Splatting Fields via Control Barrier Functions
Amirhossein Mollaei Khass, Athanasios Cosse, Vivek Pandey +1
Active perception in uncertain environments requires robots to navigate safely while acquiring informative observations to reduce map uncertainty. These objectives inherently confl…
Entropic Value-at-Risk for Inter-Vehicle Collision in Platoons: Network- and Delay-Induced Bounds on Risk Due to Extreme Events
Vivek Pandey, Nader Motee
Safe operation of connected vehicle platoons under stochastic disturbances and time-delayed dynamics requires accurate quantification of rare but dangerous events, such as inter-ve…
Incremental Risk Assessment for Cascading Failures in Large-Scale Multi-Agent Systems
Guangyi Liu, Vivek Pandey, Christoforos Somarakis +1
We develop a framework for studying and quantifying the risk of cascading failures in time-delay consensus networks, motivated by a team of agents attempting temporal rendezvous un…
Distributionally Robust Cascading Risk in Multi-Agent Rendezvous: Extended Analysis of Parameter-Induced Ambiguity
Vivek Pandey, Nader Motee
Ensuring safety in autonomous multi-agent systems during time-critical tasks such as rendezvous is a fundamental challenge, particularly under communication delays and uncertainty…
Efficient Greedy Algorithms for Feature Selection in Robot Visual Localization
Vivek Pandey, Amirhossein Mollaei, Nader Motee
Robot localization is a fundamental component of autonomous navigation in unknown environments. Among various sensing modalities, visual input from cameras plays a central role, en…