963 citations · 1k across the 19 of their papers we have counts for
20 papers
REDACT: Robust Perceptive Locomotion under Unseen Visual Corruption
Natapat Kirdwichai, Tobias Driskell-Poole, Andrei Sontea +3
Depth-conditioned locomotion policies have demonstrated impressive agile maneuvers, but can be steered to unpredictable actions when observations are outside their training distrib…
ForEnt: A Multi-Modal Dataset for Characterizing Quadruped Robot Entrapments in Forest Environments
Natapat Kirdwichai, Danesh Tarapore
Legged robots are increasingly deployed in forests for ecological surveying and monitoring, yet their autonomy is often interrupted consequent to the challenges posed in traversing…
SubCDM: Collective Decision-Making with a Swarm Subset
Samratul Fuady, Danesh Tarapore, Mohammad D. Soorati
Collective decision-making is a key function of autonomous robot swarms, enabling them to reach a consensus on actions based on environmental features. Existing strategies require…
Blind-Wayfarer: A Minimalist, Probing-Driven Framework for Resilient Navigation in Perception-Degraded Environments
Yanran Xu, Klaus-Peter Zauner, Danesh Tarapore
Navigating autonomous robots through dense forests and rugged terrains is especially daunting when exteroceptive sensors -- such as cameras and LiDAR sensors -- fail under occlusio…
Collective Decision-Making on Task Allocation Feasibility
Samratul Fuady, Danesh Tarapore, Shoaib Ehsan +1
Robot swarms offer the potential to bring several advantages to the real-world applications but deploying them presents challenges in ensuring feasibility across diverse environmen…
Collective Decision Making in Communication-Constrained Environments
Thomas G. Kelly, Mohammad Divband Soorati, Klaus-Peter Zauner +2
One of the main tasks for autonomous robot swarms is to collectively decide on the best available option. Achieving that requires a high quality communication between the agents th…
Resilient robot teams: a review integrating decentralised control, change-detection, and learning
David M. Bossens, Sarvapali Ramchurn, Danesh Tarapore
Purpose of review: This paper reviews opportunities and challenges for decentralised control, change-detection, and learning in the context of resilient robot teams. Recent finding…
Quality-Diversity Meta-Evolution: customising behaviour spaces to a meta-objective
David M. Bossens, Danesh Tarapore
Quality-Diversity (QD) algorithms evolve behaviourally diverse and high-performing solutions. To illuminate the elite solutions for a space of behaviours, QD algorithms require the…
Large-scale, Dynamic and Distributed Coalition Formation with Spatial and Temporal Constraints
Luca Capezzuto, Danesh Tarapore, Sarvapali D. Ramchurn
The Coalition Formation with Spatial and Temporal constraints Problem (CFSTP) is a multi-agent task allocation problem in which few agents have to perform many tasks, each with its…
On the use of feature-maps and parameter control for improved quality-diversity meta-evolution
David M. Bossens, Danesh Tarapore
In Quality-Diversity (QD) algorithms, which evolve a behaviourally diverse archive of high-performing solutions, the behaviour space is a difficult design choice that should be tai…
Multi-Agent Routing and Scheduling Through Coalition Formation
Luca Capezzuto, Danesh Tarapore, Sarvapali D. Ramchurn
In task allocation for real-time domains, such as disaster response, a limited number of agents is deployed across a large area to carry out numerous tasks, each with its prerequis…
Rapidly adapting robot swarms with Swarm Map-based Bayesian Optimisation
David M. Bossens, Danesh Tarapore
Rapid performance recovery from unforeseen environmental perturbations remains a grand challenge in swarm robotics. To solve this challenge, we investigate a behaviour adaptation a…
Depth estimation on embedded computers for robot swarms in forest
Chaoyue Niu, Danesh Tarapore, Klaus-Peter Zauner
Robot swarms to date are not prepared for autonomous navigation such as path planning and obstacle detection in forest floor, unable to achieve low-cost. The development of depth s…
QED: using Quality-Environment-Diversity to evolve resilient robot swarms
David M. Bossens, Danesh Tarapore
In swarm robotics, any of the robots in a swarm may be affected by different faults, resulting in significant performance declines. To allow fault recovery from randomly injected f…
Anytime and Efficient Coalition Formation with Spatial and Temporal Constraints
Luca Capezzuto, Danesh Tarapore, Sarvapali D. Ramchurn
The Coalition Formation with Spatial and Temporal constraints Problem (CFSTP) is a multi-agent task scheduling problem where the tasks are spatially distributed, with deadlines and…
ASVLite: a high-performance simulator for autonomous surface vehicles
Toby Thomas, David M. Bossens, Danesh Tarapore
The energy of ocean waves is the key distinguishing factor of marine environments compared to other aquatic environments such as lakes and rivers. Waves significantly affect the dy…
Low-viewpoint forest depth dataset for sparse rover swarms
Chaoyue Niu, Danesh Tarapore, Klaus-Peter Zauner
Rapid progress in embedded computing hardware increasingly enables on-board image processing on small robots. This development opens the path to replacing costly sensors with sophi…
The Surprising Creativity of Digital Evolution: A Collection of Anecdotes from the Evolutionary Computation and Artificial Life Research Communities
Joel Lehman, Jeff Clune, Dusan Misevic +50
Biological evolution provides a creative fount of complex and subtle adaptations, often surprising the scientists who discover them. However, because evolution is an algorithmic pr…
Evolvability signatures of generative encodings: beyond standard performance benchmarks
Danesh Tarapore, Jean-Baptiste Mouret
Evolutionary robotics is a promising approach to autonomously synthesize machines with abilities that resemble those of animals, but the field suffers from a lack of strong foundat…
Robots that can adapt like animals
Antoine Cully, Jeff Clune, Danesh Tarapore +1
As robots leave the controlled environments of factories to autonomously function in more complex, natural environments, they will have to respond to the inevitable fact that they…