29 citations · 30 across the 6 of their papers we have counts for
7 papers
Safe Reinforcement Learning Using Robust Control Barrier Functions
Yousef Emam, Gennaro Notomista, Paul Glotfelter +2
Reinforcement Learning (RL) has been shown to be effective in many scenarios. However, it typically requires the exploration of a sufficiently large number of state-action pairs, s…
Data-Driven Robust Barrier Functions for Safe, Long-Term Operation
Yousef Emam, Paul Glotfelter, Sean Wilson +2
Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as…
Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions
Yousef Emam, Gennaro Notomista, Paul Glotfelter +1
Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturba…
Robust Barrier Functions for a Fully Autonomous, Remotely Accessible Swarm-Robotics Testbed
Yousef Emam, Paul Glotfelter, Magnus Egerstedt
The Robotarium, a remotely accessible swarm-robotics testbed, has provided free, open access to robotics and controls research for hundreds of users in thousands of experiments. Th…
A Parametric MPC Approach to Balancing the Cost of Abstraction for Differential-Drive Mobile Robots
Paul Glotfelter, Magnus Egerstedt
When designing control strategies for differential-drive mobile robots, one standard tool is the consideration of a point at a fixed distance along a line orthogonal to the wheel a…
The Robotarium: A remotely accessible swarm robotics research testbed
Daniel Pickem, Paul Glotfelter, Li Wang +4
This paper describes the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral a…
Safe, Remote-Access Swarm Robotics Research on the Robotarium
Daniel Pickem, Li Wang, Paul Glotfelter +5
This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds const…