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cs.RO2026
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…
cs.RO2026
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…
cs.RO2025
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…