14 papers
Distributed Model-Based Diffusion For Scalable Multi-Robot Trajectory Optimization
Haejoon Lee, Xinyi Wang, Taekyung Kim +1
Trajectory optimization for multi-robot systems remains a critical challenge, particularly when navigating highly non-convex, non-linear, and non-differentiable environments. While…
Robust Multi-Agent LLMs under Byzantine Faults
Haejoon Lee, Vincent-Daniel Yun, Dimitra Panagou +1
Large language model (LLM) agents increasingly collaborate over peer-to-peer networks to improve their reliability. However, these same interactions can also become a source of vul…
Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach
Daniel M. Cherenson, Haejoon Lee, Taekyung Kim +1
We study how to ensure probabilistic safety for nonlinear systems under distributional ambiguity. Our approach builds on a backup-based safety filtering framework that switches bet…
Fully Byzantine-Resilient Distributed Multi-Agent Q-Learning
Haejoon Lee, Dimitra Panagou
We study Byzantine-resilient distributed multi-agent reinforcement learning (MARL), where agents must collaboratively learn optimal value functions over a compromised communication…
Feasibility Analysis and Constraint Selection in Optimization-Based Controllers
Panagiotis Rousseas, Haejoon Lee, Dimos V. Dimarogonas +1
Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where…
Partial Resilient Leader-Follower Consensus in Time-Varying Graphs
Haejoon Lee, Dimitra Panagou
This work studies resilient leader-follower consensus with a bounded number of adversaries. Existing approaches typically require robustness conditions of the entire network to gua…