Kevin Leahy
Papers
10
Total Citations
159
H-Index
7
About
Kevin Leahy’s research lies at the intersection of robotics, formal methods, and multi-agent coordination, with a central focus on enabling heterogeneous teams of robots to execute complex, high-level tasks under real-world constraints. His major contributions include the development of scalable and robust algorithms for task-based coordination from high-level specifications, as seen in his most-cited work, "Scalable and Robust Algorithms for Task-Based Coordination From High-Level Specifications (ScRATCHeS)" (58 citations). Leahy pioneered the use of temporal logic—such as Gaussian Distribution Temporal Logic (GDTL) and Capability Temporal Logic (CaTL)—to synthesize control policies that account for uncertainty, intertask dependencies, and strict deadlines. His work on control in belief space with temporal logic specifications (32 citations) and distributed information gathering under temporal logic constraints (16 citations) has advanced the field of autonomous systems operating in GPS-deprived or uncertain environments. Notably, his end-to-end framework for vision-based localization and mapping (16 citations) demonstrates practical applications for aerial-ground robot teams. Leahy’s research has been recognized for its impact on swarm control, informative path planning, and verification of autonomous systems, making him a leading voice in ensuring reliable, mission-critical robot coordination.
Research Focus
Key Achievements
Top Papers
- 1
- 2Control in belief space with Temporal Logic specifications32 citations · 2016
- 3
- 4Distributed information gathering policies under temporal logic constraints16 citations · 2015
- 5
- 6Distributed Sensing Subject to Temporal Logic Constraints8 citations · 2018
- 7Temporal Logic Swarm Control with Splitting and Merging7 citations · 2023
- 8
- 9
- 10Verification of Autonomous Systems [TC Spotlight]2 citations · 2022