38 citations · 126 across the 15 of their papers we have counts for
10 papers · 1 filter
Probabilistically Resilient Multi-Robot Informative Path Planning
Remy Wehbe, Ryan K. Williams
In this paper, we solve a multi-robot informative path planning (MIPP) task under the influence of uncertain communication and adversarial attackers. The goal is to create a multi-…
Towards Computational Awareness in Autonomous Robots: An Empirical Study of Computational Kernels
Ashrarul H. Sifat, Burhanuddin Bharmal, Haibo Zeng +3
The potential impact of autonomous robots on everyday life is evident in emerging applications such as precision agriculture, search and rescue, and infrastructure inspection. Howe…
Distributed Adaptive and Resilient Control of Multi-Robot Systems with Limited Field of View Interactions
Pratik Mukherjee, Matteo Santilli, Andrea Gasparri +1
In this paper, we consider two coupled problems for distributed multi-robot systems (MRSs) coordinating with limited field of view (FOV) sensors: adaptive tuning of interaction gai…
Intermittent Deployment for Large-Scale Multi-Robot Forage Perception: Data Synthesis, Prediction, and Planning
Jun Liu, Murtaza Rangwala, Kulbir Singh Ahluwalia +5
Monitoring the health and vigor of grasslands is vital for informing management decisions to optimize rotational grazing in agriculture applications. To take advantage of forage re…
Submodular Optimization for Coupled Task Allocation and Intermittent Deployment Problems
Jun Liu, Ryan K. Williams
In this paper, we demonstrate a formulation for optimizing coupled submodular maximization problems with provable sub-optimality bounds. In robotics applications, it is quite commo…
Monitoring Over the Long Term: Intermittent Deployment and Sensing Strategies for Multi-Robot Teams
Jun Liu, Ryan K. Williams
In this paper, we formulate and solve the intermittent deployment problem, which yields strategies that couple \emph{when} heterogeneous robots should sense an environmental proces…
Distributed Resilient Submodular Action Selection in Adversarial Environments
Jun Liu, Lifeng Zhou, Pratap Tokekar +1
In this letter, we consider a distributed submodular maximization problem for multi-robot systems when attacked by adversaries. One of the major challenges for multi-robot systems…
Anticipatory Human-Robot Path Planning for Search and Rescue
Barnabas Gavin Cangan, Larkin Heintzman, Amanda Hashimoto +2
In this work, our goal is to extend the existing search and rescue paradigm by allowing teams of autonomous unmanned aerial vehicles (UAVs) to collaborate effectively with human se…
Distributed Assignment with Limited Communication for Multi-Robot Multi-Target Tracking
Yoonchang Sung, Ashish Kumar Budhiraja, Ryan K. Williams +1
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize t…
Distributed Simultaneous Action and Target Assignment for Multi-Robot Multi-Target Tracking
Yoonchang Sung, Ashish Kumar Budhiraja, Ryan K. Williams +1
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both…