91 citations · 524 across the 63 of their papers we have counts for
9 papers · 1 filter
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 (…
Neural Identification for Control
Priyabrata Saha, Magnus Egerstedt, Saibal Mukhopadhyay
We present a new method for learning control law that stabilizes an unknown nonlinear dynamical system at an equilibrium point. We formulate a system identification task in a self-…
Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration
Ragesh K. Ramachandran, Pietro Pierpaoli, Magnus Egerstedt +1
We propose a framework for resilience in a networked heterogeneous multi-robot team subject to resource failures. Each robot in the team is equipped with resources that it shares w…
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…
Intersection-Traffic Control of Autonomous Vehicles using Newton-Raphson Flows and Barrier Functions
Shashwat Shivam, Yorai Wardi, Magnus Egerstedt +2
This paper concerns an application of a recently-developed nonlinear tracking technique to trajectory control of autonomous vehicles at traffic intersections. The technique uses a…
A Receding Horizon Scheduling Approach for Search & Rescue Scenarios
Yousef Emam, Sean Wilson, Mathias Hakenberg +2
Many applications involving complex multi-task problems such as disaster relief, logistics and manufacturing necessitate the deployment and coordination of heterogeneous multi-agen…
Adaptive Task Allocation for Heterogeneous Multi-Robot Teams with Evolving and Unknown Robot Capabilities
Yousef Emam, Siddharth Mayya, Gennaro Notomista +2
For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as wel…
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach
Tatsuya Ibuki, Sean Wilson, Aaron D. Ames +1
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained…