4 papers
Stratified Topological Autonomy for Long-Range Coordination (STALC)
Cora A. Duggan, Adam Goertz, Adam Polevoy +5
In this paper, we present Stratified Topological Autonomy for Long-Range Coordination (STALC), a hierarchical planning approach for multi-robot coordination in real-world environme…
Robust Perception-Based Navigation using PAC-NMPC with a Learned Value Function
Adam Polevoy, Mark Gonzales, Marin Kobilarov +1
Nonlinear model predictive control (NMPC) is typically restricted to short, finite horizons to limit the computational burden of online optimization. As a result, global planning f…
Dense Fixed-Wing Swarming using Receding-Horizon NMPC
Varun Madabushi, Yocheved Kopel, Adam Polevoy +1
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinea…
Multi-Agent Feedback Motion Planning using Probably Approximately Correct Nonlinear Model Predictive Control
Mark Gonzales, Adam Polevoy, Marin Kobilarov +1
For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major c…