1 citations · 1 across the 9 of their papers we have counts for
11 papers
Multi-CAP: A Multi-Robot Connectivity-Aware Hierarchical Coverage Path Planning Algorithm for Unknown Environments
Zongyuan Shen, Burhanuddin Shirose, Prasanna Sriganesh +3
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reduc…
Parallel, Asymptotically Optimal Algorithms for Moving Target Traveling Salesman Problems
Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy +3
The Moving Target Traveling Salesman Problem (MT-TSP) seeks a trajectory that intercepts several moving targets, within a particular time window for each target. When generic nonli…
A Complete and Bounded-Suboptimal Algorithm for a Moving Target Traveling Salesman Problem with Obstacles in 3D
Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy +3
The moving target traveling salesman problem with obstacles (MT-TSP-O) seeks an obstacle-free trajectory for an agent that intercepts a given set of moving targets, each within spe…
A Complete Algorithm for a Moving Target Traveling Salesman Problem with Obstacles
Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy +3
The moving target traveling salesman problem with obstacles (MT-TSP-O) is a generalization of the traveling salesman problem (TSP) where, as its name suggests, the targets are movi…
Measure Preserving Flows for Ergodic Search in Convoluted Environments
Albert Xu, Bhaskar Vundurthy, Geordan Gutow +3
Autonomous robotic search has important applications in robotics, such as the search for signs of life after a disaster. When \emph{a priori} information is available, for example…
Modular, Resilient, and Scalable System Design Approaches -- Lessons learned in the years after DARPA Subterranean Challenge
Prasanna Sriganesh, James Maier, Adam Johnson +7
Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficultie…
Multi-agent Collective Construction using 3D Decomposition
Akshaya Kesarimangalam Srinivasan, Shambhavi Singh, Geordan Gutow +2
This paper addresses a Multi-Agent Collective Construction (MACC) problem that aims to build a three-dimensional structure comprised of cubic blocks. We use cube-shaped robots that…
Distributed Optimal Control Framework for High-Speed Convoys: Theory and Hardware Results
Namya Bagree, Charles Noren, Damanpreet Singh +2
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they…
Fast Staircase Detection and Estimation using 3D Point Clouds with Multi-detection Merging for Heterogeneous Robots
Prasanna Sriganesh, Namya Bagree, Bhaskar Vundurthy +1
Robotic systems need advanced mobility capabilities to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some le…
Mathematical Justification of Hard Negative Mining via Isometric Approximation Theorem
Albert Xu, Jhih-Yi Hsieh, Bhaskar Vundurthy +3
In deep metric learning, the Triplet Loss has emerged as a popular method to learn many computer vision and natural language processing tasks such as facial recognition, object det…
Intelligent Players in a Fictitious Play Framework
Bhaskar Vundurthy, Aris Kanellopoulos, Vijay Gupta +1
Fictitious play is a popular learning algorithm in which players that utilize the history of actions played by the players and the knowledge of their own payoff matrix can converge…