40 citations · 150 across the 28 of their papers we have counts for
8 papers · 1 filter
Stochastic Nonlinear Ensemble Modeling and Control for Robot Team Environmental Monitoring
Victoria Edwards, Thales C. Silva, M. Ani Hsieh
We seek methods to model, control, and analyze robot teams performing environmental monitoring tasks. During environmental monitoring, the goal is to have teams of robots collect v…
Proportional Control for Stochastic Regulation on Allocation of Multi-Robots
Thales C. Silva, Victoria Edwards, M. Ani Hsieh
Any strategy used to distribute a robot ensemble over a set of sequential tasks is subject to inaccuracy due to robot-level uncertainties and environmental influences on the robots…
Receding Horizon Control on the Broadcast of Information in Stochastic Networks
Thales C. Silva, Li Shen, Xi Yu +1
This paper focuses on the broadcast of information on robot networks with stochastic network interconnection topologies. Problematic communication networks are almost unavoidable i…
LEARNEST: LEARNing Enhanced Model-based State ESTimation for Robots using Knowledge-based Neural Ordinary Differential Equations
Kong Yao Chee, M. Ani Hsieh
State estimation is an important aspect in many robotics applications. In this work, we consider the task of obtaining accurate state estimates for robotic systems by enhancing the…
Adaptive Sampling of Latent Phenomena using Heterogeneous Robot Teams (ASLaP-HR)
Matthew Malencia, Sandeep Manjanna, M. Ani Hsieh +2
In this paper, we present an online adaptive planning strategy for a team of robots with heterogeneous sensors to sample from a latent spatial field using a learned model for decis…
Online Dynamics Learning for Predictive Control with an Application to Aerial Robots
Tom Z. Jiahao, Kong Yao Chee, M. Ani Hsieh
In this work, we consider the task of improving the accuracy of dynamic models for model predictive control (MPC) in an online setting. Although prediction models can be learned an…
MARLAS: Multi Agent Reinforcement Learning for cooperated Adaptive Sampling
Lishuo Pan, Sandeep Manjanna, M. Ani Hsieh
The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the…
Flow-Based Control of Marine Robots in Gyre-Like Environments
Gedaliah Knizhnik, Peihan Li, Xi Yu +1
We present a flow-based control strategy that enables resource-constrained marine robots to patrol gyre-like flow environments on an orbital trajectory with a periodicity in a give…