10 citations · 20 across the 11 of their papers we have counts for
5 papers · 1 filter
Modeling Aggregate Downwash Forces for Dense Multirotor Flight
Jennifer Gielis, Ajay Shankar, Ryan Kortvelesy +1
Dense formation flight with multirotor swarms is a powerful, nature-inspired flight regime with numerous applications in the realworld. However, when multirotors fly in close verti…
Docking Multirotors in Close Proximity using Learnt Downwash Models
Ajay Shankar, Heedo Woo, Amanda Prorok
Unmodeled aerodynamic disturbances pose a key challenge for multirotor flight when multiple vehicles are in close proximity to each other. However, certain missions \textit{require…
SO(2)-Equivariant Downwash Models for Close Proximity Flight
H. Smith, A. Shankar, J. Gielis +2
Multirotors flying in close proximity induce aerodynamic wake effects on each other through propeller downwash. Conventional methods have fallen short of providing adequate 3D forc…
System Neural Diversity: Measuring Behavioral Heterogeneity in Multi-Agent Learning
Matteo Bettini, Ajay Shankar, Amanda Prorok
Evolutionary science provides evidence that diversity confers resilience in natural systems. Yet, traditional multi-agent reinforcement learning techniques commonly enforce homogen…
Heterogeneous Multi-Robot Reinforcement Learning
Matteo Bettini, Ajay Shankar, Amanda Prorok
Cooperative multi-robot tasks can benefit from heterogeneity in the robots' physical and behavioral traits. In spite of this, traditional Multi-Agent Reinforcement Learning (MARL)…