6 papers
Coverage Control in Multi-Robot Systems via Graph Neural Networks
Walker Gosrich, Siddharth Mayya, Rebecca Li +4
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must positi…
Quori: A Community-Informed Design of a Socially Interactive Humanoid Robot
Andrew Specian, Ross Mead, Simon Kim +2
Hardware platforms for socially interactive robotics can be limited by cost or lack of functionality. This paper presents the overall system -- design, hardware, and software -- fo…
A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots
Chao Liu, Mark Yim
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is…
Docking and Undocking a Modular Underactuated Oscillating Swimming Robot
Gedaliah Knizhnik, Mark Yim
We describe a docking mechanism and strategy to allow modular self-assembly for the Modboat: an inexpensive underactuated oscillating swimming robot powered by a single motor. Beca…
Design and Experiments with a Low-Cost Single-Motor Modular Aquatic Robot
Gedaliah Knizhnik, Mark Yim
We present a novel design for a low-cost robotic boat powered by a single actuator, useful for both modular and swarming applications. The boat uses the conservation of angular mom…
Optimal Structure Synthesis for Environment Augmenting Robots
Tarik Tosun, Cynthia Sung, Colin McCloskey +1
Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what…