332 citations · 376 across the 32 of their papers we have counts for
13 papers · 1 filter
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…
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…
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…
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…
Resilient Active Information Acquisition with Teams of Robots
Brent Schlotfeldt, Vasileios Tzoumas, George J. Pappas
Emerging applications of collaborative autonomy, such as Multi-Target Tracking, Unknown Map Exploration, and Persistent Surveillance, require robots plan paths to navigate an envir…
Distributed Attack-Robust Submodular Maximization for Multi-Robot Planning
Lifeng Zhou, Vasileios Tzoumas, George J. Pappas +1
In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots t…
Resilient Active Target Tracking with Multiple Robots
Lifeng Zhou, Vasileios Tzoumas, George J. Pappas +1
The problem of target tracking with multiple robots consists of actively planning the motion of the robots to track the targets. A major challenge for practical deployments is to m…
Resilient Active Information Gathering with Mobile Robots
Brent Schlotfeldt, Vasileios Tzoumas, Dinesh Thakur +1
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. How…