4 papers
Graph-of-Constraints Model Predictive Control for Reactive Multi-agent Task and Motion Planning
Anastasios Manganaris, Jeremy Lu, Ahmed H. Qureshi +1
Sequences of interdependent geometric constraints are central to many multi-agent Task and Motion Planning (TAMP) problems. However, existing methods for handling such constraint s…
A Framework for Learning Scoring Rules in Autonomous Driving Planning Systems
Zikang Xiong, Joe Kurian Eappen, Suresh Jagannathan
In autonomous driving systems, motion planning is commonly implemented as a two-stage process: first, a trajectory proposer generates multiple candidate trajectories, then a scorin…
SELP: Generating Safe and Efficient Task Plans for Robot Agents with Large Language Models
Yi Wu, Zikang Xiong, Yiran Hu +5
Despite significant advancements in large language models (LLMs) that enhance robot agents' understanding and execution of natural language (NL) commands, ensuring the agents adher…
Scaling Safe Multi-Agent Control for Signal Temporal Logic Specifications
Joe Eappen, Zikang Xiong, Dipam Patel +2
Existing methods for safe multi-agent control using logic specifications like Signal Temporal Logic (STL) often face scalability issues. This is because they rely either on single-…