8 papers
A Surveillance Evasion Game with Continuous Sensor Redeployment via Bilevel Optimization
Jaehyeok Kim, Kartik A. Pant, Joseph Kinerson +4
Uncrewed Aerial Systems (UASs) have become a growing threat to the security of critical infrastructure, exploiting spatiotemporal gaps in sensor perimeters to infiltrate restricted…
Reachability-based Temporal Logic Verification for Reliable LLM-guided Human-Autonomy Teaming
Joonwon Choi, Kartik Anand Pant, Karthik Nune +1
We propose a reachability-based framework for reliable LLM-guided human-autonomy teaming (HAT) using signal temporal logic (STL). In the proposed framework, LLM is leveraged as a t…
Signal Temporal Logic Verification and Synthesis Using Deep Reachability Analysis and Layered Control Architecture
Joonwon Choi, Kartik Anand Pant, Youngim Nam +3
We propose a signal temporal logic (STL)-based framework that rigorously verifies the feasibility of a mission described in STL and synthesizes control to safely execute it. The pr…
Log-linear Dynamic Inversion for Thrusting Spacecraft on SE2(3)
Micah K. Condie, Abigaile E. Woodbury, Li-Yu Lin +3
We demonstrate that the error dynamics of a thrusting spacecraft are nearly group affine on the Lie group, and the nonlinearity can be bounded, or removed with the applic…
A Dynamically Weighted ADMM Framework for Byzantine Resilience
Vishnu Vijay, Kartik A. Pant, Minhyun Cho +1
The alternating direction of multipliers method (ADMM) is a popular method to solve distributed consensus optimization utilizing efficient communication among various nodes in the…
Energy-Constrained Resilient Multi-Robot Coverage Control
Kartik A. Pant, Jaehyeok Kim, James M. Goppert +1
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the…