91 citations · 524 across the 63 of their papers we have counts for
5 papers · 1 filter
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…
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…
Model Free Barrier Functions via Implicit Evading Maneuvers
Eric Squires, Rohit Konda, Samuel Coogan +1
This paper demonstrates that the safety override arising from the use of a barrier function can in some cases be needlessly restrictive. In particular, we examine the case of fixed…
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…