10 citations · 17 across the 11 of their papers we have counts for
11 papers
Multi-Objective Compliance-Integrated Coevolution For Simulated And Real-World Deployment Of Multi-Robot Marine Autonomy
Everardo Gonzalez, Tyler M. Paine, Manuel Agraz Vallejo +3
Collaborative robots are well-suited to maritime missions that benefit from coordination, such as the exploration of unknown reef structures, inspection of subsea infrastructure, o…
Rapidly Converging Time-Discounted Ergodicity on Graphs for Active Inspection of Confined Spaces
Benjamin Wong, Ryan H. Lee, Tyler M. Paine +2
Ergodic exploration has spawned a lot of interest in mobile robotics due to its ability to design time trajectories that match desired spatial coverage statistics. However, current…
Safe Autonomy for Uncrewed Surface Vehicles Using Adaptive Control and Reachability Analysis
Karan Mahesh, Tyler M. Paine, Max L. Greene +6
Marine robots must maintain precise control and ensure safety during tasks like ocean monitoring, even when encountering unpredictable disturbances that affect performance. Designi…
Adaptive bias for dissensus in nonlinear opinion dynamics with application to evolutionary division of labor games
Tyler M. Paine, Anastasia Bizyaeva, Michael R. Benjamin
This paper addresses the problem of adaptively controlling the bias parameter in nonlinear opinion dynamics (NOD) to allocate agents into groups of arbitrary sizes for the purpose…
A Model for Multi-Agent Autonomy That Uses Opinion Dynamics and Multi-Objective Behavior Optimization
Tyler M. Paine, Michael R. Benjamin
This paper reports a new hierarchical architecture for modeling autonomous multi-robot systems (MRSs): a nonlinear dynamical opinion process is used to model high-level group choic…
Online Data-Driven Safety Certification for Systems Subject to Unknown Disturbances
Nicholas Rober, Karan Mahesh, Tyler M. Paine +5
Deploying autonomous systems in safety critical settings necessitates methods to verify their safety properties. This is challenging because real-world systems may be subject to di…
Active Anomaly Detection in Confined Spaces Using Ergodic Traversal of Directed Region Graphs
Benjamin Wong, Tyler M. Paine, Santosh Devasia +1
We provide the first step toward developing a hierarchical control-estimation framework to actively plan robot trajectories for anomaly detection in confined spaces. The space is r…
An ensemble of online estimation methods for one degree-of-freedom models of unmanned surface vehicles: applied theory and preliminary field results with eight vehicles
Tyler M. Paine, Michael R. Benjamin
In this paper we report an experimental evaluation of three popular methods for online system identification of unmanned surface vehicles (USVs) which were implemented as an ensemb…
Adaptive and Collaborative Bathymetric Channel-Finding Approach for Multiple Autonomous Marine Vehicles
Nikolai Gershfeld, Tyler M Paine, Michael R. Benjamin
This paper reports an investigation into the problem of rapid identification of a channel that crosses a body of water using one or more Unmanned Surface Vehicles (USV). A new algo…
Human-Assisted Robotic Detection of Foreign Object Debris Inside Confined Spaces of Marine Vessels Using Probabilistic Mapping
Benjamin Wong, Wade Marquette, Nikolay Bykov +2
Many complex vehicular systems, such as large marine vessels, contain confined spaces like water tanks, which are critical for the safe functioning of the vehicles. It is particula…
Uniform Complete Observability of Mass and Rotational Inertial Parameters in Adaptive Identification of Rigid-Body Plant Dynamics
Tyler M. Paine, Louis L. Whitcomb
This paper addresses the long-standing open problem of observability of mass and inertia plant parameters in the adaptive identification (AID) of second-order nonlinear models of 6…