4 papers
Progress-Based Fault Detection and Health-Aware Task Allocation for Heterogeneous Multi-Robot Systems
Jack Cline, Christian Macaranas, Siavash Farzan
We present a progress-based fault detection module and its integration with dynamic task allocation for heterogeneous robot teams. The detector monitors a normalized task-completio…
NDKF: A Neural-Enhanced Distributed Kalman Filter for Nonlinear Multi-Sensor Estimation
Siavash Farzan, Bennett Parisi
We propose a Neural-Enhanced Distributed Kalman Filter (NDKF) for multi-sensor state estimation in nonlinear systems. Unlike traditional Kalman filters that rely on explicit analyt…
A MILP-Based Solution to Multi-Agent Motion Planning and Collision Avoidance in Constrained Environments
Akshay Jaitly, Jack Cline, Siavash Farzan
We propose a mixed-integer linear program (MILP) for multi-agent motion planning that embeds Polytopic Action-based Motion Planning (PAAMP) into a sequence-then-solve pipeline. Reg…
Safety-Critical Formation Control of Non-Holonomic Multi-Robot Systems in Communication-Limited Environments
Vishrut Bohara, Siavash Farzan
This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constraine…