410 citations · 547 across the 7 of their papers we have counts for
9 papers
RotorPy: A Python-based Multirotor Simulator with Aerodynamics for Education and Research
Spencer Folk, James Paulos, Vijay Kumar
Simulators play a critical role in aerial robotics both in and out of the classroom. We present RotorPy, a simulation environment written entirely in Python intentionally designed…
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…
Dispersion-Minimizing Motion Primitives for Search-Based Motion Planning
Laura Jarin-Lipschitz, James Paulos, Raymond Bjorkman +1
Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weig…
Learning Connectivity for Data Distribution in Robot Teams
Ekaterina Tolstaya, Landon Butler, Daniel Mox +3
Many algorithms for control of multi-robot teams operate under the assumption that low-latency, global state information necessary to coordinate agent actions can readily be dissem…
Neurosymbolic Transformers for Multi-Agent Communication
Jeevana Priya Inala, Yichen Yang, James Paulos +5
We study the problem of inferring communication structures that can solve cooperative multi-agent planning problems while minimizing the amount of communication. We quantify the am…
Multi-Robot Coverage and Exploration using Spatial Graph Neural Networks
Ekaterina Tolstaya, James Paulos, Vijay Kumar +1
The multi-robot coverage problem is an essential building block for systems that perform tasks like inspection or search and rescue. We discretize the coverage problem to induce a…
Cooperative Team Strategies for Multi-player Perimeter-Defense Games
Daigo Shishika, James Paulos, Vijay Kumar
This paper studies a variant of the multi-player reach-avoid game played between intruders and defenders with applications to perimeter defense. The intruder team tries to score by…
Learning Decentralized Controllers for Robot Swarms with Graph Neural Networks
Ekaterina Tolstaya, Fernando Gama, James Paulos +3
We consider the problem of finding distributed controllers for large networks of mobile robots with interacting dynamics and sparsely available communications. Our approach is to l…
Decentralization of Multiagent Policies by Learning What to Communicate
James Paulos, Steven W. Chen, Daigo Shishika +1
Effective communication is required for teams of robots to solve sophisticated collaborative tasks. In practice it is typical for both the encoding and semantics of communication t…