Adaptive Bi-Level Multi-Robot Task Allocation and Learning under Uncertainty with Temporal Logic Constraints
This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined...
Robust Control Barrier Functions for Nonlinear Control Systems with Uncertainty: A Duality-based Approach
This paper studies the design of controllers that guarantee stability and safety of nonlinear control affine systems with parametric uncertainty in both the drift and control vector fields. To...
Accelerating Proximal Policy Optimization Learning Using Task Prediction for Solving Environments with Delayed Rewards
In this paper, we tackle the challenging problem of delayed rewards in reinforcement learning (RL). While Proximal Policy Optimization (PPO) has emerged as a leading Policy Gradient method, its...
Safe and Stable Teleoperation of Quadrotor UAVs under Haptic Shared Autonomy
We present a novel approach that aims to address both safety and stability of a haptic teleoperation system within a framework of Haptic Shared Autonomy (HSA). We use Control Barrier Functions...
Learning Signal Temporal Logic through Neural Network for Interpretable Classification
Machine learning techniques using neural networks have achieved promising success for time-series data classification. However, the models that they produce are challenging to verify and...
Adaptive Sampling-based Motion Planning with Control Barrier Functions
Sampling-based algorithms, such as Rapidly Exploring Random Trees (RRT) and its variants, have been used extensively for motion planning. Control barrier functions (CBFs) have been recently...
Byzantine Resilience at Swarm Scale: A Decentralized Blocklist Protocol from Inter-robot Accusations
The Weighted-Mean Subsequence Reduced (W-MSR) algorithm, the state-of-the-art method for Byzantine-resilient design of decentralized multi-robot systems, is based on discarding outliers received...
A Graph-Based Approach to Generate Energy-Optimal Robot Trajectories in Polygonal Environments
As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and...
Haptic Feedback Improves Human-Robot Agreement and User Satisfaction in Shared-Autonomy Teleoperation
Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction....
Robustness Measures and Monitors for Time Window Temporal Logic
Temporal logics (TLs) have been widely used to formalize interpretable tasks for cyber-physical systems. Time Window Temporal Logic (TWTL) has been recently proposed as a specification language...
Bearing-Based Formation Control with Optimal Motion Trajectory
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using...
Stable Haptic Teleoperation of UAVs via Small $L_2$ Gain and Control Barrier Functions
We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared...
HoLA Robots: Mitigating Plan-Deviation Attacks in Multi-Robot Systems with Co-Observations and Horizon-Limiting Announcements
Emerging multi-robot systems rely on cooperation between humans and robots, with robots following automatically generated motion plans to service application-level tasks. Given the safety...
Robust Sample-Based Output-Feedback Path Planning
We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidly-exploring...
Sampling-based Motion Planning via Control Barrier Functions
Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion planning is...
Koopman pose predictions for temporally consistent human walking estimations
We tackle the problem of tracking the human lower body as an initial step toward an automatic motion assessment system for clinical mobility evaluation, using a multimodal system that combines...
Bearing-Only Navigation with Field of View Constraints
This paper addresses the problem of navigation using only relative direction measurements (i.e., relative distances are unknown) under field of view constraints. We present a novel navigation...
Distributed and Consistent Multi-Image Feature Matching via QuickMatch
In this work we consider the multi-image object matching problem, extend a centralized solution of the problem to a distributed solution, and present an experimental application of the centralized...