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Spring 2024 GRASP Seminar: Himani Sinhmar, Cornell University, “Control Design With Guarantees for Minimalist Multi-Agent Robotic Systems”

February 2 @ 9:30 am - 10:30 am

This is a hybrid event with a VIRTUAL SPEAKER. There will be in-person attendance in Raisler Lounge and virtual attendance on Zoom.


While there has been significant progress in expanding the capabilities of multi-agent systems, a key challenge is the coordination and navigation of robot teams, especially in unknown, unstructured, and GPS-denied environments with limited communication. This paradigm raises intriguing questions: given a task, how minimal can an agent’s abilities be to guarantee the desired behavior while ensuring safety and robustness? Can we design a framework that adapts to an individual agent’s limitations, adjusting behaviors based on the task requirements, memory usage, or sensory capabilities? What quantifiable trade-offs emerge when balancing onboard capabilities with the control design for minimal robots? In this talk, I will delve deeper into these compelling questions, focusing on guaranteeing the globally desired behavior of a team of minimalistic robots. I will show how we can design provably correct reactive controllers that rely solely on a robot’s simple sensors to construct an impression of its surroundings for a multi-agent target search and encapsulation in a dynamic, unknown environment. The framework provides several quantifiable trade-offs between task, system, and control design parameters. I will also provide theoretical guarantees for encapsulating faster evaders where each agent lacks knowledge of the evader’s motion, relaxing a strong assumption typically required in pursuit-evasion literature.


Himani Sinhmar

Himani Sinhmar

Himani Sinhmar is a final year Ph.D. candidate specializing in controls and dynamics at Cornell University in the Verifiable Robotics Research Group. She earned her Bachelor and Master of Technology from IIT Bombay in 2019. Her research focuses on developing certifiable-safe controllers and motion planners for robotic systems with limited onboard capabilities. Sinhmar’s interdisciplinary approach integrates control theory, collective intelligence, formal methods, and optimization. Her overarching goal is to advance both practical and theoretically grounded solutions, enhancing the safety and guaranteed task completion of robotic systems in unstructured, and dynamically unknown environments.


February 2
9:30 am - 10:30 am
Event Category:


Raisler Lounge, Towne 225
220 S. 33rd Street
Philadelphia, PA 19104
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