3 citations · 6 across the 6 of their papers we have counts for
8 papers
Safety With Limited Range Sensing Constraints For Fixed Wing Aircraft
Eric Squires, Rohit Konda, Pietro Pierpaoli +2
In this paper we discuss how to use a barrier function that is subject to kinematic constraints and limited sensing in order to guarantee that fixed wing unmanned aerial vehicles (…
Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration
Ragesh K. Ramachandran, Pietro Pierpaoli, Magnus Egerstedt +1
We propose a framework for resilience in a networked heterogeneous multi-robot team subject to resource failures. Each robot in the team is equipped with resources that it shares w…
A Reinforcement Learning Framework for Sequencing Multi-Robot Behaviors
Pietro Pierpaoli, Thinh T. Doan, Justin Romberg +1
Given a list of behaviors and associated parameterized controllers for solving different individual tasks, we study the problem of selecting an optimal sequence of coordinated beha…
Inferring and Learning Multi-Robot Policies by Observing an Expert
Pietro Pierpaoli, Harish Ravichandar, Nicholas Waytowich +3
We present a technique for learning how to solve a multi-robot mission that requires interaction with an external environment by observing an expert system executing the same missi…
A Sequential Composition Framework for Coordinating Multi-Robot Behaviors
Pietro Pierpaoli, Anqi Li, Mohit Srinivasan +3
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one…
Composition of Safety Constraints For Fixed-Wing Collision Avoidance Amidst Limited Communications
Eric Squires, Pietro Pierpaoli, Rohit Konda +2
This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier funct…
Voluntary Retreat for Decentralized Interference Reduction in Robot Swarms
Siddharth Mayya, Pietro Pierpaoli, Magnus Egerstedt
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time…
Fault Tolerant Control for Networked Mobile Robots
Pietro Pierpaoli, Dominique Sauter, Magnus Egerstedt
Teams of networked autonomous agents have been used in a number of applications, such as mobile sensor networks and intelligent transportation systems. However, in such systems, th…