332 citations · 376 across the 32 of their papers we have counts for
45 papers
Optimistic Distributed Submodular Coordination with Applications to Multi-Target Tracking with Multiple Robots
Pranjal Sharma, Atharva Navsalkar, Zirui Xu +1
We provide a distributed online algorithm for multi-agent submodular coordination in bandit environments, i.e., environments whose evolution is unknown a priori and may even adapt…
AC-DC: Adaptive Communication for Scalable Dynamic Average Consensus in Multi-Robot Ergodic Search
Robin Inho Kee, Begum Cannataro, Vasileios Tzoumas
We study scalable peer-to-peer dynamic average consensus (DC) for multi-robot systems under finite-range, finite-rate, and interference-constrained communication. We introduce Adap…
Self-Adaptive Learning and Model Predictive Control for Tracking Unknown Dynamics with No Regret
Atharva Navsalkar, Hongyu Zhou, Vasileios Tzoumas
We propose a self-adaptive online learning for control method for tracking unknown target dynamics. The target dynamics can exhibit switching behavior, particularly, a mixture of s…
MorphQuad: Morphable Quadrotor for Superhuman Maneuverability, Manipulation, and Resiliency
Jose Diaz Peon Gonzalez Pacheco, Jiawei Xu, Andrew Zhao +7
Infrastructure maintenance, contact-based inspection, and emergency response can benefit from aerial vehicles that act as a flying human hand with extreme maneuverability, manipula…
Efficient Domain-Adaptive Policy Learning via Kernel Representation with Application to Quadrotor Control under Non-Stationary Disturbances
Hongyu Zhou, Mingtian Tan, Vasileios Tzoumas
We present an algorithm for efficient domain-adaptive policy learning via kernel representations. Learning domain-adaptive policies is challenging since it requires an environment…
Asynchronous Distributed Bandit Submodular Maximization under Heterogeneous Communication Delays
Pranjal Sharma, Zirui Xu, Vasileios Tzoumas
We study asynchronous distributed decision-making for scalable multi-agent bandit submodular maximization. We are motivated by distributed information-gathering tasks in unknown en…
Distributed Equilibrium-Seeking in Target Coverage Games via Self-Configurable Networks under Limited Communication
Jayanth Bhargav, Zirui Xu, Vasileios Tzoumas +2
We study a target coverage problem in which a team of sensing agents, operating under limited communication, must collaboratively monitor targets that may be adaptively repositione…
Distributed Online Submodular Maximization under Communication Delays: A Simultaneous Decision-Making Approach
Zirui Xu, Vasileios Tzoumas
We provide a distributed online algorithm for multi-agent submodular maximization under communication delays. We are motivated by the future distributed information-gathering tasks…
Self-Configurable Mesh-Networks for Scalable Distributed Submodular Bandit Optimization
Zirui Xu, Vasileios Tzoumas
We study how to scale distributed bandit submodular coordination under realistic communication constraints in bandwidth, data rate, and connectivity. We are motivated by multi-agen…
Adaptive Legged Locomotion via Online Learning for Model Predictive Control
Hongyu Zhou, Xiaoyu Zhang, Vasileios Tzoumas
We provide an algorithm for adaptive legged locomotion via online learning and model predictive control. The algorithm is composed of two interacting modules: model predictive cont…
MorphEUS: Morphable Omnidirectional Unmanned System
Ivan Bao, José C. Díaz Peón González Pacheco, Atharva Navsalkar +5
Omnidirectional aerial vehicles (OMAVs) have opened up a wide range of possibilities for inspection, navigation, and manipulation applications using drones. In this paper, we intro…
No-Regret Model Predictive Control with Online Learning of Koopman Operators
Hongyu Zhou, Vasileios Tzoumas
We study a problem of simultaneous system identification and model predictive control of nonlinear systems. Particularly, we provide an algorithm for systems with unknown residual…
End-to-End Learning Framework for Solving Non-Markovian Optimal Control
Xiaole Zhang, Peiyu Zhang, Xiongye Xiao +4
Integer-order calculus often falls short in capturing the long-range dependencies and memory effects found in many real-world processes. Fractional calculus addresses these gaps vi…
Performance-Aware Self-Configurable Multi-Agent Networks: A Distributed Submodular Approach for Simultaneous Coordination and Network Design
Zirui Xu, Vasileios Tzoumas
We introduce the first, to our knowledge, rigorous approach that enables multi-agent networks to self-configure their communication topology to balance the trade-off between scalab…
Communication- and Computation-Efficient Distributed Submodular Optimization in Robot Mesh Networks
Zirui Xu, Sandilya Sai Garimella, Vasileios Tzoumas
We provide a communication- and computation-efficient method for distributed submodular optimization in robot mesh networks. Submodularity is a property of diminishing returns that…
Simultaneous System Identification and Model Predictive Control with No Dynamic Regret
Hongyu Zhou, Vasileios Tzoumas
We provide an algorithm for the simultaneous system identification and model predictive control of nonlinear systems. The algorithm has finite-time near-optimality guarantees and a…
Leveraging Untrustworthy Commands for Multi-Robot Coordination in Unpredictable Environments: A Bandit Submodular Maximization Approach
Zirui Xu, Xiaofeng Lin, Vasileios Tzoumas
We study the problem of multi-agent coordination in unpredictable and partially-observable environments with untrustworthy external commands. The commands are actions suggested to…
Safe Non-Stochastic Control of Control-Affine Systems: An Online Convex Optimization Approach
Hongyu Zhou, Yichen Song, Vasileios Tzoumas
We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessari…
Safe Non-Stochastic Control of Linear Dynamical Systems
Hongyu Zhou, Vasileios Tzoumas
We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violatio…
Bandit Submodular Maximization for Multi-Robot Coordination in Unpredictable and Partially Observable Environments
Zirui Xu, Xiaofeng Lin, Vasileios Tzoumas
We study the problem of multi-agent coordination in unpredictable and partially observable environments, that is, environments whose future evolution is unknown a priori and that c…
Efficient Online Learning with Memory via Frank-Wolfe Optimization: Algorithms with Bounded Dynamic Regret and Applications to Control
Hongyu Zhou, Zirui Xu, Vasileios Tzoumas
Projection operations are a typical computation bottleneck in online learning. In this paper, we enable projection-free online learning within the framework of Online Convex Optimi…
Online Submodular Coordination with Bounded Tracking Regret: Theory, Algorithm, and Applications to Multi-Robot Coordination
Zirui Xu, Hongyu Zhou, Vasileios Tzoumas
We enable efficient and effective coordination in unpredictable environments, i.e., in environments whose future evolution is unknown a priori and even adversarial. We are motivate…
Safe Control of Partially-Observed Linear Time-Varying Systems with Minimal Worst-Case Dynamic Regret
Hongyu Zhou, Vasileios Tzoumas
We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorit…
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT
Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas +5
This paper reports on the development, execution, and open-sourcing of a new robotics course at MIT. The course is a modern take on "Visual Navigation for Autonomous Vehicles" (VNA…