7 papers · 1 filter
Prompting Robot Teams with Natural Language
Eduardo Sebastián, Nicolas Pfitzer, Ajay Shankar +1
This paper presents a framework to prompt multi-robot teams with high-level tasks using natural language expressions. Our objective is to use the reasoning capabilities of language…
Wake Up to the Past: Using Memory to Model Fluid Wake Effects on Robots
Luca Vendruscolo, Eduardo Sebastián, Amanda Prorok +1
Autonomous aerial and aquatic robots that attain mobility by perturbing their medium, such as multicopters and torpedoes, produce wake effects that act as disturbances for adjacent…
LF: Online Multi-Robot Path Planning Meets Optimal Trajectory Control
Ajay Shankar, Keisuke Okumura, Amanda Prorok
We propose a multi-robot control paradigm to solve point-to-point navigation tasks for a team of holonomic robots with access to the full environment information. The framework inv…
D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations
Yuhao Zhang, Keisuke Okumura, Heedo Woo +2
This work presents an optimization method for generating kinodynamically feasible and collision-free multi-robot trajectories that exploits an incremental denoising scheme in diffu…
The Cambridge RoboMaster: An Agile Multi-Robot Research Platform
Jan Blumenkamp, Ajay Shankar, Matteo Bettini +2
Compact robotic platforms with powerful compute and actuation capabilities are key enablers for practical, real-world deployments of multi-agent research. This article introduces a…
Language-Conditioned Offline RL for Multi-Robot Navigation
Steven Morad, Ajay Shankar, Jan Blumenkamp +1
We present a method for developing navigation policies for multi-robot teams that interpret and follow natural language instructions. We condition these policies on embeddings from…