5 papers
Optimistic Distributed Submodular Coordination with Applications to Multi-Target Tracking with Multiple Robots
Pranjal Sharma, Atharva Navsalkar, Zirui Xu +1
We provide a distributed online algorithm for multi-agent submodular coordination in bandit environments, i.e., environments whose evolution is unknown a priori and may even adapt…
Self-Adaptive Learning and Model Predictive Control for Tracking Unknown Dynamics with No Regret
Atharva Navsalkar, Hongyu Zhou, Vasileios Tzoumas
We propose a self-adaptive online learning for control method for tracking unknown target dynamics. The target dynamics can exhibit switching behavior, particularly, a mixture of s…
MorphQuad: Morphable Quadrotor for Superhuman Maneuverability, Manipulation, and Resiliency
Jose Diaz Peon Gonzalez Pacheco, Jiawei Xu, Andrew Zhao +7
Infrastructure maintenance, contact-based inspection, and emergency response can benefit from aerial vehicles that act as a flying human hand with extreme maneuverability, manipula…
MorphEUS: Morphable Omnidirectional Unmanned System
Ivan Bao, José C. Díaz Peón González Pacheco, Atharva Navsalkar +5
Omnidirectional aerial vehicles (OMAVs) have opened up a wide range of possibilities for inspection, navigation, and manipulation applications using drones. In this paper, we intro…
Data-Driven Risk-sensitive Model Predictive Control for Safe Navigation in Multi-Robot Systems
Atharva Navsalkar, Ashish R. Hota
Safe navigation is a fundamental challenge in multi-robot systems due to the uncertainty surrounding the future trajectory of the robots that act as obstacles for each other. In th…