4 papers
CoDiMAD: Diffusion-Based Privileged Distillation for Communication-Free Multi-Robot Coordination
Jiyue Tao, Shunheng Xin, Tongsheng Shen +2
Decentralized multi-robot coordination under partial observability remains challenging, especially in communication-free settings where agents must act solely from local sensor obs…
ARBoids: Adaptive Residual Reinforcement Learning With Boids Model for Cooperative Multi-USV Target Defense
Jiyue Tao, Tongsheng Shen, Dexin Zhao +1
The target defense problem (TDP) for unmanned surface vehicles (USVs) concerns intercepting an adversarial USV before it breaches a designated target region, using one or more defe…
Bioinspired Sensing of Undulatory Flow Fields Generated by Leg Kicks in Swimming
Jun Wang, Tongsheng Shen, Dexin Zhao +1
The artificial lateral line (ALL) is a bioinspired flow sensing system for underwater robots, comprising of distributed flow sensors. The ALL has been successfully applied to detec…
Estimating the Lateral Motion States of an Underwater Robot by Propeller Wake Sensing Using an Artificial Lateral Line
Jun Wang, Dexin Zhao, Youxi Zhao +2
The artificial lateral line (ALL), comprising distributed flow sensors, has been successful in sensing motion states of bioinspired underwater robots like robotic fish. However, it…