4 citations · 16 across the 16 of their papers we have counts for
34 papers
Optimal Stochastic Evasive Maneuvers Using the Schrodinger's Equation
Farhad Farokhi, Magnus Egerstedt
In this paper, preys with stochastic evasion policies are considered. The stochasticity adds unpredictable changes to the prey's path for avoiding predator's attacks. The prey's co…
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems
Gennaro Notomista, Siddharth Mayya, Yousef Emam +4
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online f…
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…
Safety With Limited Range Sensing Constraints For Fixed Wing Aircraft
Eric Squires, Rohit Konda, Pietro Pierpaoli +2
In this paper we discuss how to use a barrier function that is subject to kinematic constraints and limited sensing in order to guarantee that fixed wing unmanned aerial vehicles (…
Integral Control Barrier Functions for Dynamically Defined Control Laws
Aaron D. Ames, Gennaro Notomista, Yorai Wardi +1
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the…