114 citations · 290 across the 19 of their papers we have counts for
7 papers · 1 filter
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…
Motion Planning for Variable Topology Trusses: Reconfiguration and Locomotion
Chao Liu, Sencheng Yu, Mark Yim
Truss robots are highly redundant parallel robotic systems that can be applied in a variety of scenarios. The variable topology truss (VTT) is a class of modular truss robots. As s…
Thrust Direction Control of an Underactuated Oscillating Swimming Robot
Gedaliah Knizhnik, Mark Yim
The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods develop…
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…
SMORES-EP, a Modular Robot with Parallel Self-assembly
Chao Liu, Qian Lin, Hyun Kim +1
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of…
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…