Probe-and-drogue refueling (PDR) requires accurate terminal alignment of a receiver probe with an uninstrumented, dynamically moving drogue despite uncertainty in both relative-state estimation and closed-loop motion. Existing vision-based docking approaches provide relative-state estimates, but generally do not quanti...
Minhyuk Jang, T. Nguyen, V. Khatana et al.· 0 citations
Foundation models are increasingly used for high-level multi-robot task planning, yet independently generated symbolic plans can become jointly infeasible after geometric grounding because of shared spatial and temporal constraints. We study execution-aware coordination of large-language-model (LLM) planners for multi-...
V. Khatana, Zi-Jian Song, N. Hovakimyan et al.· 0 citations
A cooperative game-theoretic framework for authority switching in shared autonomy is developed, forming the control switching problem as an identical-interest dynamic game in which authority transitions are embedded into the system dynamics, yielding optimal switching policies rather than ad hoc rules.
A cooperative game-theoretic framework for authority switching in shared autonomy is developed, forming the control switching problem as an identical-interest dynamic game in which authority transitions are embedded into the system dynamics, yielding optimal switching policies rather than ad hoc rules.
Sandeep Banik, N. Hovakimyan· IEEE International Symposium...· 0 citations
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