6 papers
Reachability-based Temporal Logic Verification for Reliable LLM-guided Human-Autonomy Teaming
Joonwon Choi, Kartik Anand Pant, Karthik Nune +1
We propose a reachability-based framework for reliable LLM-guided human-autonomy teaming (HAT) using signal temporal logic (STL). In the proposed framework, LLM is leveraged as a t…
Signal Temporal Logic Verification and Synthesis Using Deep Reachability Analysis and Layered Control Architecture
Joonwon Choi, Kartik Anand Pant, Youngim Nam +3
We propose a signal temporal logic (STL)-based framework that rigorously verifies the feasibility of a mission described in STL and synthesizes control to safely execute it. The pr…
A Dynamically Weighted ADMM Framework for Byzantine Resilience
Vishnu Vijay, Kartik A. Pant, Minhyun Cho +1
The alternating direction of multipliers method (ADMM) is a popular method to solve distributed consensus optimization utilizing efficient communication among various nodes in the…
Energy-Constrained Resilient Multi-Robot Coverage Control
Kartik A. Pant, Jaehyeok Kim, James M. Goppert +1
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the…
SAFE-TAXI: A Hierarchical Multi-UAS Safe Auto-Taxiing Framework with Runtime Safety Assurance and Conflict Resolution
Kartik A. Pant, Li-Yu Lin, Worawis Sribunma +3
We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes…
On Enhancing Structural Resilience of Multirobot Coverage Control with Bearing Rigidity
Kartik A. Pant, Vishnu Vijay, Minhyun Cho +1
The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces sign…