40 citations · 150 across the 28 of their papers we have counts for
6 papers · 1 filter
Learning and Leveraging Features in Flow-Like Environments to Improve Situational Awareness
Tahiya Salam, Victoria Edwards, M. Ani Hsieh
This paper studies how global dynamics and knowledge of high-level features can inform decision-making for robots in flow-like environments. Specifically, we investigate how cohere…
Learning to Swarm with Knowledge-Based Neural Ordinary Differential Equations
Tom Z. Jiahao, Lishuo Pan, M. Ani Hsieh
Understanding decentralized dynamics from collective behaviors in swarms is crucial for informing robot controller designs in artificial swarms and multiagent robotic systems. Howe…
KNODE-MPC: A Knowledge-based Data-driven Predictive Control Framework for Aerial Robots
Kong Yao Chee, Tom Z. Jiahao, M. Ani Hsieh
In this work, we consider the problem of deriving and incorporating accurate dynamic models for model predictive control (MPC) with an application to quadrotor control. MPC relies…
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 modeling and prediction of multiscale environmental processes
Tahiya Salam, M. Ani Hsieh
This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type coll…
Critical transition for colliding swarms
Jason Hindes, Victoria Edwards, M. Ani Hsieh +1
Swarming patterns that emerge from the interaction of many mobile agents are a subject of great interest in fields ranging from biology to physics and robotics. In some application…