6 papers · 1 filter
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…
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…
SAFE-TAXI: A Hierarchical Multi-UAS Safe Auto-Taxiing Framework with Runtime Safety Assurance and Conflict Resolution
Kartik A. Pant, Li-Yu Lin, Worawis Sribunma +3
We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes…
On Enhancing Structural Resilience of Multirobot Coverage Control with Bearing Rigidity
Kartik A. Pant, Vishnu Vijay, Minhyun Cho +1
The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces sign…
Range-based Multi-Robot Integrity Monitoring Against Cyberattacks and Faults: An Anchor-Free Approach
Vishnu Vijay, Kartik A. Pant, Minhyun Cho +3
Coordination of multi-robot systems (MRSs) relies on efficient sensing and reliable communication among the robots. However, the sensors and communication channels of these robots…
MIXED-SENSE: A Mixed Reality Sensor Emulation Framework for Test and Evaluation of UAVs Against False Data Injection Attacks
Kartik A. Pant, Li-Yu Lin, Jaehyeok Kim +3
We present a high-fidelity Mixed Reality sensor emulation framework for testing and evaluating the resilience of Unmanned Aerial Vehicles (UAVs) against false data injection (FDI)…