2 papers
cs.RO2025
Asynchronous Distributed Multi-Robot Motion Planning Under Imperfect Communication
Ardalan Tajbakhsh, Augustinos Saravanos, James Zhu +3
This paper addresses the challenge of coordinating multi-robot systems under realistic communication delays using distributed optimization. We focus on consensus ADMM as a scalable…
cs.RO2024
Adaptive Complexity Model Predictive Control
Joseph Norby, Ardalan Tajbakhsh, Yanhao Yang +1
This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and…