Showing cs.ROShow all
3 papers · 1 filter
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…
cs.RO2024
Foundation Models to the Rescue: Deadlock Resolution in Connected Multi-Robot Systems
Kunal Garg, Songyuan Zhang, Jacob Arkin +1
Connected multi-agent robotic systems (MRS) are prone to deadlocks in an obstacle environment where the robots can get stuck away from their desired locations under a smooth low-le…