11 citations · 23 across the 13 of their papers we have counts for
13 papers
Khalasi: Energy-Efficient Navigation for Surface Vehicles in Vortical Flow Fields
Rushiraj Gadhvi, Sandeep Manjanna
For centuries, khalasi (Gujarati for sailor) have skillfully harnessed ocean currents to navigate vast waters with minimal effort. Emulating this intuition in autonomous systems re…
Underactuated Biomimetic Autonomous Underwater Vehicle for Ecosystem Monitoring
Kaustubh Singh, Shivam Kumar, Shashikant Pawar +1
In this paper, we present an underactuated biomimetic underwater robot that is suitable for ecosystem monitoring in both marine and freshwater environments. We present an updated m…
Distributed Multi-robot Online Sampling with Budget Constraints
Azin Shamshirgaran, Sandeep Manjanna, Stefano Carpin
In multi-robot informative path planning the problem is to find a route for each robot in a team to visit a set of locations that can provide the most useful data to reconstruct an…
Towards Understanding Underwater Weather Events in Rivers Using Autonomous Surface Vehicles
Alice K. Li, Yue Mao, Sandeep Manjanna +10
Climate change has increased the frequency and severity of extreme weather events such as hurricanes and winter storms. The complex interplay of floods with tides, runoff, and sedi…
Leveraging Predictive Models for Adaptive Sampling of Spatiotemporal Fluid Processes
Sandeep Manjanna, Tom Z. Jiahao, M. Ani Hsieh
Persistent monitoring of a spatiotemporal fluid process requires data sampling and predictive modeling of the process being monitored. In this paper we present PASST algorithm: Pre…
Reinforcement Learning for Agile Active Target Sensing with a UAV
Harsh Goel, Laura Jarin Lipschitz, Saurav Agarwal +2
Active target sensing is the task of discovering and classifying an unknown number of targets in an environment and is critical in search-and-rescue missions. This paper develops a…
Adaptive Sampling of Latent Phenomena using Heterogeneous Robot Teams (ASLaP-HR)
Matthew Malencia, Sandeep Manjanna, M. Ani Hsieh +2
In this paper, we present an online adaptive planning strategy for a team of robots with heterogeneous sensors to sample from a latent spatial field using a learned model for decis…
MARLAS: Multi Agent Reinforcement Learning for cooperated Adaptive Sampling
Lishuo Pan, Sandeep Manjanna, M. Ani Hsieh
The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the…
An Autonomous Probing System for Collecting Measurements at Depth from Small Surface Vehicles
Yuying Huang, Yiming Yao, Johanna Hansen +4
This paper presents the portable autonomous probing system (APS), a low-cost robotic design for collecting water quality measurements at targeted depths from an autonomous surface…
Scalable Multirobot Planning for Informed Spatial Sampling
Sandeep Manjanna, M. Ani Hsieh, Gregory Dudek
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection u…
Heterogeneous Robot Teams for Informative Sampling
Travis Manderson, Sandeep Manjanna, Gregory Dudek
In this paper we present a cooperative multi-robot strategy to adaptively explore and sample environments that are unfavorable for humans. We propose a methodology for a team of he…
Reinforcement Learning with Non-uniform State Representations for Adaptive Search
Sandeep Manjanna, Herke van Hoof, Gregory Dudek
Efficient spatial exploration is a key aspect of search and rescue. In this paper, we present a search algorithm that generates efficient trajectories that optimize the rate at whi…
Autonomous Marine Sampling Enhanced by Strategically Deployed Drifters in Marine Flow Fields
Johanna Hansen, Sandeep Manjanna, Alberto Quattrini Li +2
We present a transportable system for ocean observations in which a small autonomous surface vehicle (ASV) adaptively collects spatially diverse samples with aid from a team of ine…