24 citations · 58 across the 14 of their papers we have counts for
15 papers
Surge Routing: Event-informed Multiagent Reinforcement Learning for Autonomous Rideshare
Daniel Garces, Stephanie Gil
Large events such as conferences, concerts and sports games, often cause surges in demand for ride services that are not captured in average demand patterns, posing unique challeng…
Dynamic Crowd Vetting: Collaborative Detection of Malicious Robots in Dynamic Communication Networks
Matthew Cavorsi, Frederik Mallmann-Trenn, David Saldaña +1
Coordination in a large number of networked robots is a challenging task, especially when robots are constantly moving around the environment and there are malicious attacks within…
Resilient Distributed Optimization for Multi-Agent Cyberphysical Systems
Michal Yemini, Angelia Nedić, Andrea J. Goldsmith +1
This work focuses on the problem of distributed optimization in multi-agent cyberphysical systems, where a legitimate agent's iterates are influenced both by the values it receives…
Wi-Closure: Reliable and Efficient Search of Inter-robot Loop Closures Using Wireless Sensing
Weiying Wang, Anne Kemmeren, Daniel Son +2
In this paper we propose a novel algorithm, Wi-Closure, to improve computational efficiency and robustness of loop closure detection in multi-robot SLAM. Our approach decreases the…
Multiagent Reinforcement Learning for Autonomous Routing and Pickup Problem with Adaptation to Variable Demand
Daniel Garces, Sushmita Bhattacharya, Stephanie Gil +1
We derive a learning framework to generate routing/pickup policies for a fleet of autonomous vehicles tasked with servicing stochastically appearing requests on a city map. We focu…
Exploiting Trust for Resilient Hypothesis Testing with Malicious Robots
Matthew Cavorsi, Orhan Eren Akgün, Michal Yemini +2
We develop a resilient binary hypothesis testing framework for decision making in adversarial multi-robot crowdsensing tasks. This framework exploits stochastic trust observations…
Cloud-Cluster Architecture for Detection in Intermittently Connected Sensor Networks
Michal Yemini, Stephanie Gil, Andrea J. Goldsmith
We consider a centralized detection problem where sensors experience noisy measurements and intermittent connectivity to a centralized fusion center. The sensors collaborate locall…
Toolbox Release: A WiFi-Based Relative Bearing Sensor for Robotics
Ninad Jadhav, Weiying Wang, Diana Zhang +2
This paper presents the WiFi-Sensor-for-Robotics (WSR) toolbox, an open source C++ framework. It enables robots in a team to obtain relative bearing to each other, even in non-line…
Characterizing Trust and Resilience in Distributed Consensus for Cyberphysical Systems
Michal Yemini, Angelia Nedić, Andrea Goldsmith +1
This work considers the problem of resilient consensus where stochastic values of trust between agents are available. Specifically, we derive a unified mathematical framework to ch…
Crowd Vetting: Rejecting Adversaries via Collaboration--with Application to Multi-Robot Flocking
Frederik Mallmann-Trenn, Matthew Cavorsi, Stephanie Gil
We characterize the advantage of using a robot's neighborhood to find and eliminate adversarial robots in the presence of a Sybil attack. We show that by leveraging the opinions of…
A wireless signal-based sensing framework for robotics
Ninad Jadhav, Weiying Wang, Diana Zhang +3
In this paper we develop the analytical framework for a novel Wireless signal-based Sensing capability for Robotics (WSR) by leveraging robots' mobility. It allows robots to primar…
Multiagent Rollout and Policy Iteration for POMDP with Application to Multi-Robot Repair Problems
Sushmita Bhattacharya, Siva Kailas, Sahil Badyal +2
In this paper we consider infinite horizon discounted dynamic programming problems with finite state and control spaces, partial state observations, and a multiagent structure. We…
Exploiting Local and Cloud Sensor Fusion in Intermittently Connected Sensor Networks
Michal Yemini, Stephanie Gil, Andrea Goldsmith
We consider a detection problem where sensors experience noisy measurements and intermittent communication opportunities to a centralized fusion center (or cloud). The objective of…
Reinforcement Learning for POMDP: Partitioned Rollout and Policy Iteration with Application to Autonomous Sequential Repair Problems
Sushmita Bhattacharya, Sahil Badyal, Thomas Wheeler +2
In this paper we consider infinite horizon discounted dynamic programming problems with finite state and control spaces, and partial state observations. We discuss an algorithm tha…
Active Rendezvous for Multi-Robot Pose Graph Optimization using Sensing over Wi-Fi
Weiying Wang, Ninad Jadhav, Paul Vohs +3
We present a novel framework for collaboration amongst a team of robots performing Pose Graph Optimization (PGO) that addresses two important challenges for multi-robot SLAM: i) th…