11 papers
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…
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…
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…