7 citations · 13 across the 12 of their papers we have counts for
13 papers
When Information is Worth the Risk: Behavioral Valuation for Hazardous Robotic Exploration
Alkesh K. Srivastava, Aamodh Suresh, Carlos Nieto-Granda +1
Hazardous robotic exploration requires robots to map spatial risks, such as unsafe terrain, radiation, fire, mines, or structural damage, while operating where collecting informati…
B-ActiveSEAL: Scalable Uncertainty-Aware Active Exploration with Tightly Coupled Localization-Mapping
Min-Won Seo, Aamodh Suresh, Carlos Nieto-Granda +1
Active robot exploration requires decision-making processes that integrate localization and mapping under tightly coupled uncertainty. However, managing these interdependent uncert…
Behaviorally Heterogeneous Multi-Agent Exploration Using Distributed Task Allocation
Nirabhra Mandal, Aamodh Suresh, Carlos Nieto-Granda +1
We study a problem of multi-agent exploration with behaviorally heterogeneous robots. Each robot maps its surroundings using SLAM and identifies a set of areas of interest (AoIs) o…
Behaviorally Adaptive Multi-Robot Hazard Localization in Failure-Prone, Communication-Denied Environments
Alkesh K. Srivastava, Aamodh Suresh, Carlos Nieto-Granda
We address the challenge of multi-robot autonomous hazard mapping in high-risk, failure-prone, communication-denied environments such as post-disaster zones, underground mines, cav…
BEASST: Behavioral Entropic Gradient based Adaptive Source Seeking for Mobile Robots
Donipolo Ghimire, Aamodh Suresh, Carlos Nieto-Granda +1
This paper presents BEASST (Behavioral Entropic Gradient-based Adaptive Source Seeking for Mobile Robots), a novel framework for robotic source seeking in complex, unknown environm…
Robust Output-Feedback MPC for Nonlinear Systems with Applications to Robotic Exploration
Scott Brown, Mohammad Khajenejad, Aamodh Suresh +1
This paper introduces a novel method for robust output-feedback model predictive control (MPC) for a class of nonlinear discrete-time systems. We propose a novel interval-valued pr…
Behavioral Entropy-Guided Dataset Generation for Offline Reinforcement Learning
Wesley A. Suttle, Aamodh Suresh, Carlos Nieto-Granda
Entropy-based objectives are widely used to perform state space exploration in reinforcement learning (RL) and dataset generation for offline RL. Behavioral entropy (BE), a rigorou…
Robotic Exploration using Generalized Behavioral Entropy
Aamodh Suresh, Carlos Nieto-Granda, Sonia Martinez
This work presents and evaluates a novel strategy for robotic exploration that leverages human models of uncertainty perception. To do this, we introduce a measure of uncertainty t…
Robot Navigation in Risky, Crowded Environments: Understanding Human Preferences
Aamodh Suresh, Angelique Taylor, Laurel D. Riek +1
Risky and crowded environments (RCE) contain abstract sources of risk and uncertainty, which are perceived differently by humans, leading to a variety of behaviors. Thus, robots de…
Risk-perception-aware control design under dynamic spatial risks
Aamodh Suresh, Sonia Martinez
This work proposes a novel risk-perception-aware (RPA) control design using non-rational perception of risks associated with uncertain dynamic spatial costs. We use Cumulative Pros…
Planning under non-rational perception of uncertain spatial costs
Aamodh Suresh, Sonia Martinez
This work investigates the design of risk-perception-aware motion-planning strategies that incorporate non-rational perception of risks associated with uncertain spatial costs. Our…
Gesture based Human-Swarm Interactions for Formation Control using interpreters
Aamodh Suresh, Sonia Martinez
We propose a novel Human-Swarm Interaction (HSI) framework which enables the user to control a swarm shape and formation. The user commands the swarm utilizing just arm gestures an…
Brain-Swarm Interface (BSI): Controlling a Swarm of Robots with Brain and Eye Signals from an EEG Headset
Aamodh Suresh, Mac Schwager
This work presents a novel marriage of Swarm Robotics and Brain Computer Interface technology to produce an interface which connects a user to a swarm of robots. The proposed inter…