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Autonomous shape and structure formation is an important problem in the domain of large-scale multi-agent systems. In this paper, we propose a 3D structure representation method and a distributed structure formation strategy where settled…
An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii)…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…
Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivide the environment into a grid of voxels, each associated…
3D multi-object tracking is a critical and challenging task in the field of autonomous driving. A common paradigm relies on modeling individual object motion, e.g., Kalman filters, to predict trajectories. While effective in simple…
This paper considers the problem of designing interval observers for hidden mode switched nonlinear systems with bounded noise signals that are compromised by false data injection and switching attacks. The proposed observer consists of…
Reachability analysis aims at identifying states reachable by a system within a given time horizon. This task is known to be computationally expensive for linear hybrid systems. Reachability analysis works by iteratively applying continuous…
We consider a problem in which the trajectory of a mobile 3D sensor must be optimized so that certain objects are both found in the overall scene and covered by the point cloud, as fast as possible. This problem is called target search and…
This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring…
The problem of active mapping aims to plan an informative sequence of sensing views given a limited budget such as distance traveled. This paper consider active occupancy grid mapping using a range sensor, such as LiDAR or depth camera.…
Smart grid's objective is to enable electricity and information to flow two-way while providing effective, robust, computerized, and decentralized energy delivery. This necessitates the use of state estimation-based techniques and real-time…
We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile agents to minimize an uncertainty metric in a given mission space. For a single agent in a one-dimensional…
Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains…
We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. Both the defender and the intruders have non-holonomic dynamics. The intruders' objective is to breach the…
Robust reinforcement learning agents using high-dimensional observations must be able to identify relevant state features amidst many exogeneous distractors. A representation that captures controllability identifies these state elements by…
The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where most of the workspace remains fixed while a subset of…
This work contributes a novel deep navigation policy that enables collision-free flight of aerial robots based on a modular approach exploiting deep collision encoding and reinforcement learning. The proposed solution builds upon a deep…
The robot exploration task has been widely studied with applications spanning from novel environment mapping to item delivery. For some time-critical tasks, such as rescue catastrophes, the agent is required to explore as efficiently as…
Electric power grid components, such as high voltage transformers (HVTs), generating stations, substations, etc. are expensive to maintain and, in the event of failure, replace. Thus, regularly monitoring the behavior of such components is…
Computer vision systems are increasingly adopted in modern logistics operations, including the estimation of trailer occupancy for planning, routing, and billing. Although effective, such systems may be vulnerable to physical adversarial…