4 papers
Over-Approximating Minimizer Sets of Constrained Convex Programs with Parametric Uncertainty via Reachability Analysis
Brendan Gould, Chih-Yuan Chiu, Antoine P. Leeman +3
We study the set of solutions to a parameterized, strongly convex optimization problem whose cost depends on uncertain, bounded parameters. We compute a certified outer approximati…
RTD-RAX: Fast, Safe Trajectory Planning for Systems under Unknown Disturbances
Evanns Morales-Cuadrado, Long Kiu Chung, Shreyas Kousik +1
Reachability-based Trajectory Design (RTD) is a provably safe, real-time trajectory planning framework that combines offline reachable-set computation with online trajectory optimi…
Ask, Reason, Assist: Robot Collaboration via Natural Language and Temporal Logic
Dan BW Choe, Sundhar Vinodh Sangeetha, Steven Emanuel +3
Increased robot deployment, such as in warehousing, has revealed a need for collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To this end, we propose a…
Seeing, Saying, Solving: An LLM-to-TL Framework for Cooperative Robots
Dan BW Choe, Sundhar Vinodh Sangeetha, Steven Emanuel +3
Increased robot deployment, such as in warehousing, has revealed a need for seamless collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To address this…