37 citations · 151 across the 85 of their papers we have counts for
10 papers · 1 filter
Learning and Autonomy for Extraterrestrial Terrain Sampling: An Experience Report from OWLAT Deployment
Pranay Thangeda, Ashish Goel, Erica Tevere +6
Extraterrestrial autonomous lander missions increasingly demand adaptive capabilities to handle the unpredictable and diverse nature of the terrain. This paper discusses the deploy…
Weathering Ongoing Uncertainty: Learning and Planning in a Time-Varying Partially Observable Environment
Gokul Puthumanaillam, Xiangyu Liu, Negar Mehr +1
Optimal decision-making presents a significant challenge for autonomous systems operating in uncertain, stochastic and time-varying environments. Environmental variability over tim…
Optimizing a Model-Agnostic Measure of Graph Counterdeceptiveness via Reattachment
Anakin Dey, Sam Ruggerio, Manav Vora +1
Recognition of an adversary's objective is a core problem in physical security and cyber defense. Prior work on target recognition focuses on developing optimal inference strategie…
Viability under Degraded Control Authority
Hamza El-Kebir, Richard Berlin, Joseph Bentsman +1
In this work, we solve the problem of quantifying and mitigating control authority degradation in real time. Here, our target systems are controlled nonlinear affine-in-control evo…
Identifying Single-Input Linear System Dynamics from Reachable Sets
Taha Shafa, Roy Dong, Melkior Ornik
This paper is concerned with identifying linear system dynamics without the knowledge of individual system trajectories, but from the knowledge of the system's reachable sets obser…
Losing Control of your Network? Try Resilience Theory
Jean-Baptiste Bouvier, Sai Pushpak Nandanoori, Melkior Ornik
Resilience of cyber-physical networks to unexpected failures is a critical need widely recognized across domains. For instance, power grids, telecommunication networks, transportat…
Delayed resilient trajectory tracking after partial loss of control authority over actuators
Jean-Baptiste Bouvier, Himmat Panag, Robyn Woollands +1
After the loss of control authority over thrusters of the Nauka module, the International Space Station lost attitude control for 45 minutes with potentially disastrous consequence…
Welfare Maximization Algorithm for Solving Budget-Constrained Multi-Component POMDPs
Manav Vora, Pranay Thangeda, Michael N. Grussing +1
Partially Observable Markov Decision Processes (POMDPs) provide an efficient way to model real-world sequential decision making processes. Motivated by the problem of maintenance a…
Few-shot Adaptation for Manipulating Granular Materials Under Domain Shift
Yifan Zhu, Pranay Thangeda, Melkior Ornik +1
Autonomous lander missions on extraterrestrial bodies will need to sample granular material while coping with domain shift, no matter how well a sampling strategy is tuned on Earth…
Optimal Routing of Modular Agents on a Graph
Karan Jagdale, Melkior Ornik
Motivated by an emerging framework of Autonomous Modular Vehicles, we consider the abstract problem of optimally routing two modules, i.e., vehicles that can attach to or detach fr…