4 papers
SC3BF: Shifted Collision Cone Control Barrier Function for Dynamic Obstacle Avoidance
Amin Kashiri, Yasin Yazıcıoğlu
The collision cone used by velocity-space control barrier functions is conservative: it rejects every relative velocity aimed into an obstacle, however slow. We propose the \emph{s…
Communication-Free Obstacle Localization from Aggregate Wrench Measurements in Leader--Follower Cooperative Transport
Amin Kashiri, Aditya Mohan, Yasin Yazıcıoğlu
We consider obstacle localization for a team of robots cooperatively transporting a rigid payload without explicit inter-robot communication. A leader robot directs the payload's m…
DM-Nav: Decentralized Multi-Agent Multimodal Multi-Object Semantic Navigation
Amin Kashiri, Atharva Jamsandekar, Yasin Yazıcıoğlu
We present DM-Nav, a fully decentralized multi-agent semantic navigation system supporting multimodal open-vocabulary goal specification and multi-object missions. In our setti…
RSPECT: Robust and Scalable Planner for Energy-Aware Coordination of UAV-UGV Teams in Aerial Monitoring
Cahit Ikbal Er, Amin Kashiri, Yasin Yazicioglu
We consider the robust planning of energy-constrained unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), which act as mobile charging stations, to perform long-ho…