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06/12/2023
Range Limited Coverage Control using Air-Ground Multi-Robot Teams
In this paper, we investigate how heterogeneous multi-robot systems with...
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10/11/2021
Safe Model-Based Reinforcement Learning Using Robust Control Barrier Functions
Reinforcement Learning (RL) is effective in many scenarios. However, it ...
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10/11/2021
Optimal Stochastic Evasive Maneuvers Using the Schrodinger's Equation
In this paper, preys with stochastic evasion policies are considered. Th...
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07/27/2021
Model Free Barrier Functions via Implicit Evading Maneuvers
This paper demonstrates that in some cases the safety override arising f...
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05/12/2021
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems
In the context of heterogeneous multi-robot teams deployed for executing...
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04/15/2021
Data-Driven Robust Barrier Functions for Safe, Long-Term Operation
Applications that require multi-robot systems to operate independently f...
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11/02/2020
Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions
Multi-robot task allocation is a ubiquitous problem in robotics due to i...
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09/24/2020
Neural Identification for Control
We present a new method for learning control law that stabilizes an unkn...
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08/04/2020
Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration
We propose a framework for resilience in a networked heterogeneous multi...
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04/21/2020
Intersection-Traffic Control of Autonomous Vehicles using Newton-Raphson Flows and Barrier Functions
This paper concerns an application of a recently-developed nonlinear tra...
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04/05/2020
A Receding Horizon Scheduling Approach for Search Rescue Scenarios
Many applications involving complex multi-task problems such as disaster...
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03/06/2020
Adaptive Task Allocation for Heterogeneous Multi-Robot Teams with Evolving and Unknown Robot Capabilities
For multi-robot teams with heterogeneous capabilities, typical task allo...
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09/25/2019
Path Planning in Unknown Environments Using Optimal Transport Theory
This paper introduces a graph-based, potential-guided method for path pl...
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09/17/2019
Inferring and Learning Multi-Robot Policies by Observing an Expert
In this paper we present a technique for learning how to solve a multi-r...
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09/12/2019
A Reinforcement Learning Framework for Sequencing Multi-Robot Behaviors
Given a list of behaviors and associated parameterized controllers for s...
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09/06/2019
Robust Barrier Functions for a Fully Autonomous, Remotely Accessible Swarm-Robotics Testbed
The Robotarium, a remotely accessible swarm-robotics testbed, has provid...
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07/17/2019
A Sequential Composition Framework for Coordinating Multi-Robot Behaviors
A number of coordinated behaviors have been proposed for achieving speci...
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06/10/2019
Composition of Safety Constraints With Applications to Decentralized Fixed-Wing Collision Avoidance
In this paper we discuss how to construct a barrier certificate for a co...
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03/29/2019
Stable, Concurrent Controller Composition for Multi-Objective Robotic Tasks
Robotic systems often need to consider multiple tasks concurrently. This...
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03/28/2019
From Motions to Emotions: Can the Fundamental Emotions be Expressed in a Robot Swarm?
This paper explores the expressive capabilities of a swarm of miniature ...
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03/20/2019
An Optimal Task Allocation Strategy for Heterogeneous Multi-Robot Systems
For a team of heterogeneous robots executing multiple tasks, we propose ...
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03/14/2019
Persistification of Robotic Tasks
In this paper we propose a control framework that enables robots to exec...
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02/27/2019
A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot
In this paper we present a theoretical study of a specific class of vibr...
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02/27/2019
Non-Uniform Robot Densities in Vibration Driven Swarms Using Phase Separation Theory
In robot swarms operating under highly restrictive sensing and communica...
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02/27/2019
Achieving Non-Uniform Densities in Vibration Driven Robot Swarms Using Phase Separation Theory
In robot swarms operating with severely constrained sensing and communic...
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02/14/2019
Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies
In the multi-robot systems literature, control policies are typically ob...
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12/05/2018
Voluntary Retreat for Decentralized Interference Reduction in Robot Swarms
In densely-packed robot swarms operating in confined regions, spatial in...
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11/04/2018
Constraint-Driven Coordinated Control of Multi-Robot Systems
In this paper we present a reformulation--framed as a constrained optimi...
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08/07/2018
Control of Multi-Agent Systems with Finite Time Control Barrier Certificates and Temporal Logic
In this paper, a method to synthesize controllers using finite time conv...
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06/06/2018
Fault Tolerant Control for Networked Mobile Robots
Teams of networked autonomous agents have been used in a number of appli...
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02/24/2018
Coverage Control for Wire-Traversing Robots
In this paper we consider the coverage control problem for a team of wir...
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02/20/2018
A Parametric MPC Approach to Balancing the Cost of Abstraction for Differential-Drive Mobile Robots
When designing control strategies for differential-drive mobile robots, ...
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01/29/2018
Safety-aware Adaptive Reinforcement Learning with Applications to Brushbot Navigation
This paper presents a safety-aware learning framework that employs an ad...
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02/11/2017