30 citations · 44 across the 17 of their papers we have counts for
21 papers
Heterogeneous Coalition Formation and Scheduling with Multi-Skilled Robots
Ashay Aswale, Carlo Pinciroli
We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-ski…
Decentralized Multi-Agent Reinforcement Learning with Global State Prediction
Joshua Bloom, Pranjal Paliwal, Apratim Mukherjee +1
Deep reinforcement learning (DRL) has seen remarkable success in the control of single robots. However, applying DRL to robot swarms presents significant challenges. A critical cha…
Minimalistic Collective Perception with Imperfect Sensors
Khai Yi Chin, Yara Khaluf, Carlo Pinciroli
Collective perception is a foundational problem in swarm robotics, in which the swarm must reach consensus on a coherent representation of the environment. An important variant of…
Extracting Symbolic Models of Collective Behaviors with Graph Neural Networks and Macro-Micro Evolution
Stephen Powers, Carlo Pinciroli
Collective behaviors are typically hard to model. The scale of the swarm, the large number of interactions, and the richness and complexity of the behaviors are factors that make i…
A Study of Reinforcement Learning Algorithms for Aggregates of Minimalistic Robots
Joshua Bloom, Apratim Mukherjee, Carlo Pinciroli
The aim of this paper is to study how to apply deep reinforcement learning for the control of aggregates of minimalistic robots. We define aggregates as groups of robots with a phy…
Hacking the Colony: On the Disruptive Effect of Misleading Pheromone and How to Defend Against It
Ashay Aswale, Antonio Lopez, Aukkawut Ammartayakun +1
Ants have evolved to seek and retrieve food by leaving trails of pheromones. This mechanism has inspired several approaches to decentralized multi-robot coordination. However, in t…
Air-Releasable Soft Robots for Explosive Ordnance Disposal
Tyler C. Looney, Nathan M. Savard, Gus T. Teran +8
The demining of landmines using drones is challenging; air-releasable payloads are typically non-intelligent (e.g., water balloons or explosives) and deploying them at even low alt…
On Multi-Human Multi-Robot Remote Interaction: A Study of Transparency, Inter-Human Communication, and Information Loss in Remote Interaction
Jayam Patel, Prajankya Sonar, Carlo Pinciroli
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual hu…
Direct and Indirect Communication in Multi-Human Multi-Robot Interaction
Jayam Patel, Tyagaraja Ramaswamy, Zhi Li +1
How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams…
Transparency in Multi-Human Multi-Robot Interaction
Jayam Patel, Tyagaraja Ramaswamy, Zhi Li +1
Transparency is a key factor in improving the performance of human-robot interaction. A transparent interface allows humans to be aware of the state of a robot and to assess the pr…
Distributed Data Storage and Fusion for Collective Perception in Resource-Limited Mobile Robot Swarms
Nathalie Majcherczyk, Daniel Jeswin Nallathambi, Tim Antonelli +1
In this paper, we propose an approach to the distributed storage and fusion of data for collective perception in resource-limited robot swarms. We demonstrate our approach in a dis…
Flow-FL: Data-Driven Federated Learning for Spatio-Temporal Predictions in Multi-Robot Systems
Nathalie Majcherczyk, Nishan Srishankar, Carlo Pinciroli
In this paper, we show how the Federated Learning (FL) framework enables learning collectively from distributed data in connected robot teams. This framework typically works with c…
SMAC: Symbiotic Multi-Agent Construction
Caleb Wagner, Neel Dhanaraj, Trevor Rizzo +4
We present a novel concept of a heterogeneous, distributed platform for autonomous 3D construction. The platform is composed of two types of robots acting in a coordinated and comp…
SwarmMesh: A Distributed Data Structure for Cooperative Multi-Robot Applications
Nathalie Majcherczyk, Carlo Pinciroli
We present an approach to the distributed storage of data across a swarm of mobile robots that forms a shared global memory. We assume that external storage infrastructure is absen…
Improving Human Performance Using Mixed Granularity of Control in Multi-Human Multi-Robot Interaction
Jayam Patel, Carlo Pinciroli
Due to the potentially large number of units involved, the interaction with a multi-robot system is likely to exceed the limits of the span of apprehension of any individual human…
Robot Co-design: Beyond the Monotone Case
Luca Carlone, Carlo Pinciroli
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a larg…
A Minimalistic Approach to Segregation in Robot Swarms
Peter Mitrano, Jordan Burklund, Michael Giancola +1
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in th…
Mixed-Granularity Human-Swarm Interaction
Jayam Patel, Yicong Xu, Carlo Pinciroli
We present an augmented reality human-swarm interface that combines two modalities of interaction: environment-oriented and robot-oriented. The environment-oriented modality allows…
Decentralized Connectivity-Preserving Deployment of Large-Scale Robot Swarms
Nathalie Majcherczyk, Adhavan Jayabalan, Giovanni Beltrame +1
We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed target…
Buzz: An Extensible Programming Language for Self-Organizing Heterogeneous Robot Swarms
Carlo Pinciroli, Adam Lee-Brown, Giovanni Beltrame
We present Buzz, a novel programming language for heterogeneous robot swarms. Buzz advocates a compositional approach, offering primitives to define swarm behaviors both from the p…
Boolean network robotics: a proof of concept
Andrea Roli, Mattia Manfroni, Carlo Pinciroli +1
Dynamical systems theory and complexity science provide powerful tools for analysing artificial agents and robots. Furthermore, they have been recently proposed also as a source of…