30 citations · 57 across the 12 of their papers we have counts for
15 papers
Decentralized Risk-Aware Tracking of Multiple Targets
Jiazhen Liu, Lifeng Zhou, Ragesh Ramachandran +2
We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position e…
The Role of Heterogeneity in Autonomous Perimeter Defense Problems
Aviv Adler, Oscar Mickelin, Ragesh K. Ramachandran +2
When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally…
Adaptive and Risk-Aware Target Tracking with Heterogeneous Robot Teams
Siddharth Mayya, Ragesh K. Ramachandran, Lifeng Zhou +2
We consider a scenario where a team of robots with heterogeneous sensors must track a set of hostile targets which induce sensory failures on the robots. In particular, the likelih…
Learning Equality Constraints for Motion Planning on Manifolds
Giovanni Sutanto, Isabel M. Rayas Fernández, Peter Englert +2
Constrained robot motion planning is a widely used technique to solve complex robot tasks. We consider the problem of learning representations of constraints from demonstrations wi…
Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration
Ragesh K. Ramachandran, Pietro Pierpaoli, Magnus Egerstedt +1
We propose a framework for resilience in a networked heterogeneous multi-robot team subject to resource failures. Each robot in the team is equipped with resources that it shares w…
Learning Manifolds for Sequential Motion Planning
Isabel M. Rayas Fernández, Giovanni Sutanto, Peter Englert +2
Motion planning with constraints is an important part of many real-world robotic systems. In this work, we study manifold learning methods to learn such constraints from data. We e…
Sampling-Based Motion Planning on Sequenced Manifolds
Peter Englert, Isabel M. Rayas Fernández, Ragesh K. Ramachandran +1
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequen…
Resilience in multi-robot multi-target tracking with unknown number of targets through reconfiguration
Ragesh K. Ramachandran, Nicole Fronda, Gaurav S. Sukhatme
We address the problem of maintaining resource availability in a networked multi-robot team performing distributed tracking of unknown number of targets in an environment of intere…
Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking
Eric Heiden, Ziang Liu, Ragesh K. Ramachandran +1
Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines with depth measurement…
Resilience in multi-robot target tracking through reconfiguration
Ragesh K. Ramachandran, Nicole Fronda, Gaurav S. Sukhatme
We address the problem of maintaining resource availability in a networked multi-robot system performing distributed target tracking. In our model, robots are equipped with sensing…
Resilient Coverage: Exploring the Local-to-Global Trade-off
Ragesh K. Ramachandran, Lifeng Zhou James A. Preiss, Gaurav S. Sukhatme
We propose a centralized control framework to select suitable robots from a heterogeneous pool and place them at appropriate locations to monitor a region for events of interest. I…
Automated Construction of Metric Maps using a Stochastic Robotic Swarm Leveraging Received Signal Strength
Ragesh K. Ramachandran, Spring Berman
In this work, we present a novel automated procedure for constructing a metric map of an unknown domain with obstacles using uncertain position data collected by a swarm of resourc…
Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams
Ragesh K. Ramachandran, James A. Preiss, Gaurav S. Sukhatme
We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on…
Information correlated Levy walk exploration and distributed mapping using a swarm of robots
Ragesh K. Ramachandran, Zahi Kakish, Spring Berman
In this work, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities a…
The Effect of Communication Topology on Scalar Field Estimation by Networked Robotic Swarms
Ragesh K Ramachandran, Spring Berman
This paper studies the problem of reconstructing a two-dimensional scalar field using a swarm of networked robots with local communication capabilities. We consider the communicati…