85 citations · 281 across the 21 of their papers we have counts for
5 papers · 1 filter
Scale-Invariant Specifications for Human-Swarm Systems
Joel Meyer, Ahalya Prabhakar, Allison Pinosky +9
We present a method for controlling a swarm using its spectral decomposition -- that is, by describing the set of trajectories of a swarm in terms of a spatial distribution through…
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions
Cameron Lerch, Dayi Dong, Ian Abraham
In this paper, we address the problem of safe trajectory planning for autonomous search and exploration in constrained, cluttered environments. Guaranteeing safe (collision-free) t…
Scale-Invariant Fast Functional Registration
Muchen Sun, Allison Pinosky, Ian Abraham +1
Functional registration algorithms represent point clouds as functions (e.g. spacial occupancy field) avoiding unreliable correspondence estimation in conventional least-squares re…
A Local Optimization Framework for Multi-Objective Ergodic Search
Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Howard Coffin +2
Robots have the potential to perform search for a variety of applications under different scenarios. Our work is motivated by humanitarian assistant and disaster relief (HADR) wher…
A Second-Order Reachable Sets Computation Scheme via a Cauchy-Type Variational Hamilton-Jacobi-Isaacs Equation
Lekan Molu, Ian Abraham, Sylvia Herbert
Motivated by the scalability limitations of Eulerian methods for variational Hamilton-Jacobi-Isaacs (HJI) formulations that provide a least restrictive controller in problems that…