174 citations · 237 across the 20 of their papers we have counts for
20 papers
Compact Keyframe-Optimized Multi-Agent Gaussian Splatting SLAM
Monica M. Q. Li, Pierre-Yves Lajoie, Jialiang Liu +1
Efficient multi-agent 3D mapping is essential for robotic teams operating in unknown environments, but dense representations hinder real-time exchange over constrained communicatio…
Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned
Pierre-Yves Lajoie, Karthik Soma, Haechan Mark Bong +4
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localiz…
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
Hierarchies define the scalability of robot swarms
Vivek Shankar Varadharajan, Karthik Soma, Sepand Dyanatkar +2
The emerging behaviors of swarms have fascinated scientists and gathered significant interest in the field of robotics. Traditionally, swarms are viewed as egalitarian, with robots…
Dynamic Open Vocabulary Enhanced Safe-landing with Intelligence (DOVESEI)
Haechan Mark Bong, Rongge Zhang, Ricardo de Azambuja +1
This work targets what we consider to be the foundational step for urban airborne robots, a safe landing. Our attention is directed toward what we deem the most crucial aspect of t…
Congestion and Scalability in Robot Swarms: a Study on Collective Decision Making
Karthik Soma, Vivek Shankar Vardharajan, Heiko Hamann +1
One of the most important promises of decentralized systems is scalability, which is often assumed to be present in robot swarm systems without being contested. Simple limitations,…
BittyBuzz: A Swarm Robotics Runtime for Tiny Systems
Ulrich Dah-Achinanon, Emir Khaled Belhaddad, Guillaume Ricard +1
Swarm robotics is an emerging field of research which is increasingly attracting attention thanks to the advances in robotics and its potential applications. However, despite the e…
Joint Machine-Transporter Scheduling for Multistage Jobs with Adjustable Computation Time
Koresh Khateri, Giovanni Beltrame
This paper presents a scalable solution with adjustable computation time for the joint problem of scheduling and assigning machines and transporters for missions that must be compl…
Energy Sufficiency in Unknown Environments via Control Barrier Functions
Hassan Fouad, Vivek Shankar Varadharajan, Giovanni Beltrame
Maintaining energy sufficiency of a battery-powered robot system is a essential for long-term missions. This capability should be flexible enough to deal with different types of en…
CoNi-MPC: Cooperative Non-inertial Frame Based Model Predictive Control
Baozhe Zhang, Xinwei Chen, Zhehan Li +4
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base,…
Real-Time Simultaneous Localization and Mapping with LiDAR intensity
Wenqiang Du, Giovanni Beltrame
We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments…
Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems
Pierre-Yves Lajoie, Giovanni Beltrame
Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital component for successful multi-robot operations in environments without an external positioning system, such…
A Complete Set of Connectivity-aware Local Topology Manipulation Operations for Robot Swarms
Koresh Khateri, Karthik Soma, Mahdi Pourgholi +3
The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology…
ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity
Maira Saboia, Lillian Clark, Vivek Thangavelu +16
Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves…
Analyze, Debug, Optimize: Real-Time Tracing for Perception and Mapping Systems in ROS 2
Pierre-Yves Lajoie, Christophe Bédard, Giovanni Beltrame
Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization…
Copiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface
Marcel Kaufmann, Robert Trybula, Ryan Stonebraker +6
Real-world deployment of new technology and capabilities can be daunting. The recent DARPA Subterranean (SubT) Challenge, for instance, aimed at the advancement of robotic platform…
Message Flow Analysis with Complex Causal Links for Distributed ROS 2 Systems
Christophe Bédard, Pierre-Yves Lajoie, Giovanni Beltrame +1
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to eff…
Hierarchical Control of Smart Particle Swarms
Vivek Shankar Varadharajan, Sepand Dyanatkar, Giovanni Beltrame
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple l…
Self-Supervised Domain Calibration and Uncertainty Estimation for Place Recognition
Pierre-Yves Lajoie, Giovanni Beltrame
Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually d…
RASS: Risk-Aware Swarm Storage
Samuel Arseneault, David Vielfaure, Giovanni Beltrame
In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natura…