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09/07/2023
Occlusion-Free Image Based Visual Servoing using Probabilistic Control Barrier Certificates
Image-based visual servoing (IBVS) is a widely-used approach in robotics...
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05/22/2023
Risk-aware Safe Control for Decentralized Multi-agent Systems via Dynamic Responsibility Allocation
Decentralized control schemes are increasingly favored in various domain...
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03/07/2023
Minimally Constrained Multi-Robot Coordination with Line-of-sight Connectivity Maintenance
In this paper, we consider a team of mobile robots executing simultaneou...
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07/29/2022
Sample-efficient Safe Learning for Online Nonlinear Control with Control Barrier Functions
Reinforcement Learning (RL) and continuous nonlinear control have been s...
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06/17/2022
Responsibility-associated Multi-agent Collision Avoidance with Social Preferences
This paper introduces a novel social preference-aware decentralized safe...
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05/08/2022
Provable Probabilistic Safety and Feasibility-Assured Control for Autonomous Vehicles using Exponential Control Barrier Functions
With the increasing need for safe control in the domain of autonomous dr...
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04/22/2022
Noncooperative Herding With Control Barrier Functions: Theory and Experiments
In this paper, we consider the problem of protecting a high-value unit f...
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02/24/2022
Collective Conditioned Reflex: A Bio-Inspired Fast Emergency Reaction Mechanism for Designing Safe Multi-Robot Systems
A multi-robot system (MRS) is a group of coordinated robots designed to ...
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02/20/2022
Adaptive Safe Merging Control for Heterogeneous Autonomous Vehicles using Parametric Control Barrier Functions
With the increasing emphasis on the safe autonomy for robots, model-base...
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04/29/2021
Probabilistic Safety-Assured Adaptive Merging Control for Autonomous Vehicles
Autonomous vehicles face tremendous challenges while interacting with hu...
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03/14/2021
Meta Preference Learning for Fast User Adaptation in Human-Supervisory Multi-Robot Deployments
As multi-robot systems (MRS) are widely used in various tasks such as na...
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03/10/2021
Hiding Leader's Identity in Leader-Follower Navigation through Multi-Agent Reinforcement Learning
Leader-follower navigation is a popular class of multi-robot algorithms ...
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12/18/2020
Online Connectivity-aware Dynamic Deployment for Heterogeneous Multi-Robot Systems
In this paper, we consider the dynamic multi-robot distribution problem ...
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12/20/2019
Multi-Robot Collision Avoidance under Uncertainty with Probabilistic Safety Barrier Certificates
Collision avoidance for multi-robot systems is a difficult challenge und...
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10/03/2019
Behavior Mixing with Minimum Global and Subgroup Connectivity Maintenance for Large-Scale Multi-Robot Systems
In many cases the multi-robot systems are desired to execute simultaneou...
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01/21/2019