47 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…
Stochastic Multi-Objective Kinodynamic Planning Against Adversaries
Thomas Marshall Vielmetti, Daniel Cherenson, Dimitra Panagou
This paper addresses multi-objective kinodynamic planning in environments with stochastic hybrid adversaries that probabilistically transition to adversarial modes based on the ego…
SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration
Taekyung Kim, Rahul H Kumar, Aswin D. Menon +2
Autonomous exploration in unknown environments is typically driven by informative frontiers, viewpoints, or trajectories, while local safety controllers avoid obstacles represented…
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…
Learning to Adapt Control Barrier Functions Under Epistemic and Aleatoric Uncertainty
Taekyung Kim, Robin Inho Kee, Dimitra Panagou
Control barrier functions (CBFs) provide a tractable mechanism for enforcing safety constraints in robotic systems, but their practical performance depends strongly on the choice o…
A Formal gatekeeper Framework for Safe Dual Control with Active Exploration
Kaleb Ben Naveed, Devansh R. Agrawal, Dimitra Panagou
Planning safe trajectories under model uncertainty is a fundamental challenge. Robust planning ensures safety by considering worst-case realizations, yet ignores uncertainty reduct…