7 accepted papers
Control barrier functions (CBFs) are an effective model-based tool to formally certify the safety of a system. With the growing complexity of modern control problems, CBFs have received increasing attention in both optimization-based and learning-based control communities as a safety filter, owing t
This letter addresses the problem of Multi-Robot Simultaneous Localization and Mapping (SLAM) in dynamic feature-free marine environments. Traditional SLAM approaches rely on static environmental features, which are often scarce in marine environments, hindering their applicability in aquatic enviro
In this work, we propose a novel flow field-based motion planning method that drives a robot from any initial state to a desired reference trajectory such that it converges to the trajectory's end point. Despite demonstrated efficacy in using Koopman operator theory for modeling dynamical systems,…
Communication constraints can significantly impact robots’ ability to share information, coordinate their movements, and synchronize their actions, thus limiting coordination in Multi-Robot Exploration (MRE) applications. In this work, we address these challenges by modeling the MRE application as a…
In this letter, we address the task of adaptive sampling to model vector fields. When modeling environmental phenomena with a robot, gathering high resolution information can be resource intensive. Actively gathering data and modeling flows with the data is a more efficient alternative. However, in
The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their non-learning counterparts, many of these frameworks rely on…
With the rapidly changing climate and an increase in extreme weather events, it is necessary to have better methods to monitor and study the impacts of these phenomena on urban river environments. Multi-robot environmental monitoring has long focused on strategies that assign individual robots to di…