5 citations · 10 across the 15 of their papers we have counts for
15 papers
LIPP: Load-Aware Informative Path Planning with Physical Sampling
Hojune Kim, Guangyao Shi, Gaurav S. Sukhatme
In classical Informative Path Planning (C-IPP), robots are typically modeled as mobile sensors that acquire digital measurements such as images or radiation levels. In this model,…
Contextual Neural Moving Horizon Estimation for Robust Quadrotor Control in Varying Conditions
Kasra Torshizi, Chak Lam Shek, Khuzema Habib +3
Adaptive controllers on quadrotors typically rely on estimation of disturbances to ensure robust trajectory tracking. Estimating disturbances across diverse environmental contexts…
Multi-Agent Trust Region Policy Optimisation: A Joint Constraint Approach
Chak Lam Shek, Guangyao Shi, Pratap Tokekar
Multi-agent reinforcement learning (MARL) requires coordinated and stable policy updates among interacting agents. Heterogeneous-Agent Trust Region Policy Optimization (HATRPO) enf…
Fast k-connectivity Restoration in Multi-Robot Systems for Robust Communication Maintenance
Md Ishat-E-Rabban, Guangyao Shi, Griffin Bonner +1
Maintaining a robust communication network plays an important role in the success of a multi-robot team jointly performing an optimization task. A key characteristic of a robust co…
LAVA: Long-horizon Visual Action based Food Acquisition
Amisha Bhaskar, Rui Liu, Vishnu D. Sharma +2
Robotic Assisted Feeding (RAF) addresses the fundamental need for individuals with mobility impairments to regain autonomy in feeding themselves. The goal of RAF is to use a robot…
AG-CVG: Coverage Planning with a Mobile Recharging UGV and an Energy-Constrained UAV
Nare Karapetyan, Ahmad Bilal Asghar, Amisha Bhaskar +3
In this paper, we present an approach for coverage path planning for a team of an energy-constrained Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). Both the UA…
Decision-Oriented Learning Using Differentiable Submodular Maximization for Multi-Robot Coordination
Guangyao Shi, Chak Lam Shek, Nare Karapetyan +1
We present a differentiable, decision-oriented learning framework for cost prediction in a class of multi-robot decision-making problems, in which the robots need to trade off the…
Where to Drop Sensors from Aerial Robots to Monitor a Surface-Level Phenomenon?
Chak Lam Shek, Guangyao Shi, Ahmad Bilal Asghar +1
We consider the problem of routing a team of energy-constrained Unmanned Aerial Vehicles (UAVs) to drop unmovable sensors for monitoring a task area in the presence of stochastic w…
Data-Driven Distributionally Robust Optimal Control with State-Dependent Noise
Rui Liu, Guangyao Shi, Pratap Tokekar
Distributionally Robust Optimal Control (DROC) is a framework that enables robust control in a stochastic setting where the true disturbance distribution is unknown. Traditional DR…
Decision-Oriented Learning with Differentiable Submodular Maximization for Vehicle Routing Problem
Guangyao Shi, Pratap Tokekar
We study the problem of learning a function that maps context observations (input) to parameters of a submodular function (output). Our motivating case study is a specific type of…
Risk-aware Resource Allocation for Multiple UAVs-UGVs Recharging Rendezvous
Ahmad Bilal Asghar, Guangyao Shi, Nare Karapetyan +4
We study a resource allocation problem for the cooperative aerial-ground vehicle routing application, in which multiple Unmanned Aerial Vehicles (UAVs) with limited battery capacit…
Risk-aware UAV-UGV Rendezvous with Chance-Constrained Markov Decision Process
Guangyao Shi, Nare Karapetyan, Ahmad Bilal Asghar +4
We study a chance-constrained variant of the cooperative aerial-ground vehicle routing problem, in which an Unmanned Aerial Vehicle (UAV) with limited battery capacity and an Unman…
Communication-Aware Multi-robot Coordination with Submodular Maximization
Guangyao Shi, Ishat E Rabban, Lifeng Zhou +1
Submodular maximization has been widely used in many multi-robot task planning problems including information gathering, exploration, and target tracking. However, the interplay be…
Fast Biconnectivity Restoration in Multi-Robot Systems for Robust Communication Maintenance
Md Ishat-E-Rabban, Guangyao Shi, Pratap Tokekar
Maintaining a robust communication network plays an important role in the success of a multi-robot team jointly performing an optimization task. A key characteristic of a robust mu…
Robust Multiple-Path Orienteering Problem: Securing Against Adversarial Attacks
Guangyao Shi, Lifeng Zhou, Pratap Tokekar
The multiple-path orienteering problem asks for paths for a team of robots that maximize the total reward collected while satisfying budget constraints on the path length. This pro…