83 citations · 99 across the 30 of their papers we have counts for
19 papers · 1 filter
Music-driven Robot Swarm Painting
Jingde Cheng, Gennaro Notomista
This paper proposes a novel control framework for robotic swarms capable of turning a musical input into a painting. The approach connects the two artistic domains, music and paint…
Value Iteration for Learning Concurrently Executable Robotic Control Tasks
Sheikh A. Tahmid, Gennaro Notomista
Many modern robotic systems such as multi-robot systems and manipulators exhibit redundancy, a property owing to which they are capable of executing multiple tasks. This work propo…
Energy-Aware Task Allocation for Teams of Multi-mode Robots
Takumi Ito, Riku Funada, Mitsuji Sampei +1
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to…
Reactive Robot Navigation Using Quasi-conformal Mappings and Control Barrier Functions
Gennaro Notomista, Gary P. T. Choi, Matteo Saveriano
This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot worksp…
A Constrained-Optimization Approach to the Execution of Prioritized Stacks of Learned Multi-Robot Tasks
Gennaro Notomista
This paper presents a constrained-optimization formulation for the prioritized execution of learned robot tasks. The framework lends itself to the execution of tasks encoded by val…
What Can Robots Teach Us About The COVID-19 Pandemic? Interactive Demonstrations of Epidemiological Models Using a Swarm of Brushbots
Gennaro Notomista, Siddharth Mayya
This paper describes the methodology and outcomes of a series of educational events conducted in 2021 which leveraged robot swarms to educate high-school and university students ab…
Resilience and Energy-Awareness in Constraint-Driven-Controlled Multi-Robot Systems
Gennaro Notomista
In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness…
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems
Gennaro Notomista, Siddharth Mayya, Yousef Emam +4
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online f…
Data-Driven Robust Barrier Functions for Safe, Long-Term Operation
Yousef Emam, Paul Glotfelter, Sean Wilson +2
Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as…
A Safety and Passivity Filter for Robot Teleoperation Systems
Gennaro Notomista, Xiaoyi Cai
In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the r…
Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions
Yousef Emam, Gennaro Notomista, Paul Glotfelter +1
Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturba…
Adaptive Task Allocation for Heterogeneous Multi-Robot Teams with Evolving and Unknown Robot Capabilities
Yousef Emam, Siddharth Mayya, Gennaro Notomista +2
For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as wel…
A Set-Theoretic Approach to Multi-Task Execution and Prioritization
Gennaro Notomista, Siddharth Mayya, Mario Selvaggio +2
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need…
A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot
Gennaro Notomista, Siddharth Mayya, Anirban Mazumdar +2
In this paper we present a study of a specific class of vibration-driven robots: the brushbots. In a bottom-up fashion, we start by deriving dynamic models of the brushes and we di…
Non-Uniform Robot Densities in Vibration Driven Swarms Using Phase Separation Theory
Siddharth Mayya, Gennaro Notomista, Dylan Shell +2
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange.…
An Optimal Task Allocation Strategy for Heterogeneous Multi-Robot Systems
Gennaro Notomista, Siddharth Mayya, Seth Hutchinson +1
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. M…
Persistification of Robotic Tasks
Gennaro Notomista, Magnus Egerstedt
In this paper we propose a control framework that enables robots to execute tasks persistently, i.e., over time horizons much longer than robots' battery life. This is achieved by…
Constraint-Driven Coordinated Control of Multi-Robot Systems
Gennaro Notomista, Magnus Egerstedt
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The…
Coverage Control for Wire-Traversing Robots
Gennaro Notomista, Magnus Egerstedt
In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected…