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04/13/2023
Robustness Measures and Monitors for Time Window Temporal Logic
Temporal logics (TLs) have been widely used to formalize interpretable t...
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04/03/2023
Efficient LQR-CBF-RRT*: Safe and Optimal Motion Planning
Control Barrier Functions (CBF) are a powerful tool for designing safety...
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01/25/2023
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 robo...
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01/17/2023
Byzantine Resilience at Swarm Scale: A Decentralized Blocklist Protocol from Inter-robot Accusations
The Weighted-Mean Subsequence Reduced (W-MSR) algorithm, the state-of-th...
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11/09/2022
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 ...
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10/04/2022
Learning Signal Temporal Logic through Neural Network for Interpretable Classification
Machine learning techniques using neural networks have achieved promisin...
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06/01/2022
Adaptive Sampling-based Motion Planning with Control Barrier Functions
Sampling-based algorithms, such as Rapidly Exploring Random Trees (RRT) ...
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05/15/2022
Output-Feedback Path Planning with Robustness to State-Dependent Errors
We consider the problem of sample-based feedback motion planning from me...
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05/05/2022
Koopman pose predictions for temporally consistent human walking estimations
We tackle the problem of tracking the human lower body as an initial ste...
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03/08/2022
Sample-Based Output-Feedback Navigation with Bearing Measurements
We consider the problem of sample-based feedback-based motion planning f...
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05/28/2021
Robust Sample-Based Output-Feedback Path Planning
We propose a novel approach for sampling-based and control-based motion ...
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03/22/2021
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...
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03/05/2021
Haptic Feedback Improves Human-Robot Agreement and User Satisfaction in Shared-Autonomy Teleoperation
Shared autonomy teleoperation can guarantee safety, but does so by reduc...
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02/07/2020
Statistical Outlier Identification in Multi-robot Visual SLAM using Expectation Maximization
This paper introduces a novel and distributed method for detecting inter...
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10/29/2019
Distributed and Consistent Multi-Image Feature Matching via QuickMatch
In this work we consider the multi-image object matching problem, extend...
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10/17/2019
Robust Planning and Control For Polygonal Environments via Linear Programming
In this paper, we are concerned with the design of a set of controllers,...
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10/12/2019
A Computational Theory of Robust Localization Verifiability in the Presence of Pure Outlier Measurements
The problem of localizing a set of nodes from relative pairwise measurem...
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07/15/2019
Sampling-based Motion Planning via Control Barrier Functions
Robot motion planning is central to real-world autonomous applications, ...
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08/09/2016
A Factorization Approach to Inertial Affine Structure from Motion
We consider the problem of reconstructing a 3-D scene from a moving came...
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01/18/2012
On the Lagrangian Biduality of Sparsity Minimization Problems
Recent results in Compressive Sensing have shown that, under certain con...
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12/30/2011