4 papers
Domain-Aware Machine Learning for Accelerating MILP-Based Motion Planning with Temporal Logic and Chance Constraints
Junyang Cai, Weimin Huang, Brendan Long +4
Motion-planning problems with temporal-logic or chance constraints are often encoded as mixed-integer linear programs (MILPs). Although these encodings provide rigorous specificati…
Real-Time Optical Communication Using Event-Based Vision with Moving Transmitters
Harmeet Dhillon, Pranay Katyal, Brendan Long +3
In multi-robot systems, traditional radio frequency (RF) communication struggles with contention and jamming. Optical communication offers a strong alternative. However, convention…
Distributed Control Barrier Functions for Safe Multi-Vehicle Navigation in Heterogeneous USV Fleets
Tyler Paine, Brendan Long, Jeremy Wenger +3
Collision avoidance in heterogeneous fleets of uncrewed vessels is challenging because the decision-making processes and controllers often differ between platforms, and it is furth…
PRISM: Complete Online Decentralized Multi-Agent Pathfinding with Rapid Information Sharing using Motion Constraints
Hannah Lee, Zachary Serlin, James Motes +3
We introduce PRISM (Pathfinding with Rapid Information Sharing using Motion Constraints), a decentralized algorithm designed to address the multi-task multi-agent pathfinding (MT-M…