3 papers
cs.RO2026
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…
cs.MA2026
R3R: Decentralized Multi-Agent Collision Avoidance with Infinite-Horizon Safety
Thomas Marshall Vielmetti, Devansh R. Agrawal, Dimitra Panagou
Existing decentralized methods for multi-agent motion planning lack formal, infinite-horizon safety guarantees, especially for communication-constrained systems. We present R3R whi…
cs.RO2025
Multi-Agent gatekeeper: Safe Flight Planning and Formation Control for Urban Air Mobility
Thomas Marshall Vielmetti, Devansh R Agrawal, Dimitra Panagou
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a…