Author

Petros G. Voulgaris

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Preprint Oct 2026

Uncertainty-Aware Vision-Based Autonomous Aerial Refueling

This work presents an uncertainty-aware vision-based PDR docking architecture that fuses keypoint-based drogue measurements, differential GPS, and avionics in an extended Kalman filter and defines geometric and command margins for a range-conditioned deterministic predictive controller.

Minhyuk Jang, T. Nguyen, V. Khatana et al. · 0 citations

Preprint Oct 2026

Verifier-Mediated Multi-LLM Coordination for Multi-Robot Path Planning

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