Research questions I have been working on
My research asks how robot teams can coordinate reliably when some members fail or act adversarially, and how that coordination can scale without giving up safety guarantees.
Resilient Multi-Robot Networks
- What network structures make a team resilient to adversaries?
- How can moving robots maintain resilient networks despite spatial constraints?
Resilient Consensus, Learning, and Decision-Making
- How can agents agree, learn, and decide reliably despite Byzantine members?
Scalable Multi-Robot Planning and Allocation
- How can robot teams plan and allocate tasks at scale?
Safe Optimization-Based Control with Guarantees
- How can optimization-based controllers stay regular and feasible?
- How can we enforce complex safety requirements?