7 citations · 7 across the 7 of their papers we have counts for
8 papers
Informative Path Planning with Guaranteed Estimation Uncertainty
Kalvik Jakkala, Saurav Agarwal, Jason O'Kane +1
Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower sur…
MAST: Multi-Agent Spatial Transformer for Learning to Collaborate
Damian Owerko, Frederic Vatnsdal, Saurav Agarwal +2
This article presents a novel multi-agent spatial transformer (MAST) for learning communication policies in large-scale decentralized and collaborative multi-robot systems (DC-MRS)…
Online Multi-Robot Coordination and Cooperation with Task Precedence Relationships
Walker Gosrich, Saurav Agarwal, Kashish Garg +4
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination…
Scalable Multi Agent Diffusion Policies for Coverage Control
Frederic Vatnsdal, Romina Garcia Camargo, Saurav Agarwal +1
We propose MADP, a novel diffusion-model-based approach for collaboration in decentralized robot swarms. MADP leverages diffusion models to generate samples from complex and high-d…
Generalizability of Graph Neural Networks for Decentralized Unlabeled Motion Planning
Shreyas Muthusamy, Damian Owerko, Charilaos I. Kanatsoulis +2
Unlabeled motion planning involves assigning a set of robots to target locations while ensuring collision avoidance, aiming to minimize the total distance traveled. The problem for…
Constrained Learning for Decentralized Multi-Objective Coverage Control
Juan Cervino, Saurav Agarwal, Vijay Kumar +1
The multi-objective coverage control problem requires a robot swarm to collaboratively provide sensor coverage to multiple heterogeneous importance density fields IDFs simultaneous…
LPAC: Learnable Perception-Action-Communication Loops with Applications to Coverage Control
Saurav Agarwal, Ramya Muthukrishnan, Walker Gosrich +2
Coverage control is the problem of navigating a robot swarm to collaboratively monitor features or a phenomenon of interest not known a priori. The problem is challenging in decent…
A Scalable Multi-Robot Framework for Decentralized and Asynchronous Perception-Action-Communication Loops
Saurav Agarwal, Frederic Vatnsdal, Romina Garcia Camargo +3
We develop a decentralized Perception-Action-Communication (PAC) system for multi-robot teams that enables them to collaborate in large scale, outdoor environments. Our system nati…