3 papers
math.OC2026
Hybrid topology control: a dynamic leader-based distributed edge-addition and deletion mechanism
Kunal Garg, Xi Yu
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes…
cs.RO2025
GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control
Songyuan Zhang, Oswin So, Kunal Garg +1
Distributed, scalable, and safe control of large-scale multi-agent systems is a challenging problem. In this paper, we design a distributed framework for safe multi-agent control i…
cs.RO2024
Failure Prediction from Limited Hardware Demonstrations
Anjali Parashar, Kunal Garg, Joseph Zhang +1
Prediction of failures in real-world robotic systems either requires accurate model information or extensive testing. Partial knowledge of the system model makes simulation-based f…