4 papers · 1 filter
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…
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…
Autonomy Architectures for Safe Planning in Unknown Environments Under Budget Constraints
Daniel M. Cherenson, Devansh R. Agrawal, Dimitra Panagou
Mission planning can often be formulated as a constrained control problem under multiple path constraints (i.e., safety constraints) and budget constraints (i.e., resource expendit…
Enabling Safety for Aerial Robots: Planning and Control Architectures
Kaleb Ben Naveed, Devansh R. Agrawal, Daniel M. Cherenson +6
Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspecti…