3 citations · 4 across the 11 of their papers we have counts for
11 papers
Analytical Swarm Chemistry: Characterization and Analysis of Emergent Swarm Behaviors
Ricardo Vega, Connor Mattson, Kevin Zhu +2
Swarm robotics has potential for a wide variety of applications, but real-world deployments remain rare due to the difficulty of predicting emergent behaviors arising from simple l…
Classifying Emergence in Robot Swarms: An Observer-Dependent Approach
Ricardo Vega, Cameron Nowzari
Emergence and swarms are widely discussed topics, yet no consensus exists on their formal definitions. This lack of agreement makes it difficult not only for new researchers to gra…
Learning-Augmented Model-Based Multi-Robot Planning for Time-Critical Search and Inspection Under Uncertainty
Abhish Khanal, Joseph Prince Mathew, Cameron Nowzari +1
In disaster response or surveillance operations, quickly identifying areas needing urgent attention is critical, but deploying response teams to every location is inefficient or of…
Discovery and Deployment of Emergent Robot Swarm Behaviors via Representation Learning and Real2Sim2Real Transfer
Connor Mattson, Varun Raveendra, Ricardo Vega +3
Given a swarm of limited-capability robots, we seek to automatically discover the set of possible emergent behaviors. Prior approaches to behavior discovery rely on human feedback…
Agent-Based Emulation for Deploying Robot Swarm Behaviors
Ricardo Vega, Kevin Zhu, Connor Mattson +2
Despite significant research, robotic swarms have yet to be useful in solving real-world problems, largely due to the difficulty of creating and controlling swarming behaviors in m…
Spiking Neural Networks as a Controller for Emergent Swarm Agents
Kevin Zhu, Connor Mattson, Shay Snyder +4
Drones which can swarm and loiter in a certain area cost hundreds of dollars, but mosquitos can do the same and are essentially worthless. To control swarms of low-cost robots, res…
ReLoki: Infrastructure-free Distributed Relative Localization using On-board UWB Antenna Arrays
Joseph Prince Mathew, Cameron Nowzari
Coordination of multi-robot systems require some form of localization between agents, but most methods today rely on some external infrastructure. Ultra Wide Band (UWB) sensing has…
Real-Time Distributed Infrastructure-free Searching and Target Tracking via Virtual Pheromones
Joseph Prince Mathew, Cameron Nowzari
Actively searching for targets using a multi-agent system in an unknown environment poses a two-pronged problem, where on the one hand we need agents to cover as much of the enviro…
Asymptotic Stability of Active Disturbance Rejection Control for Linear SISO Plants with Low Observer Gains
James Berneburg, Daigo Shishika, Cameron Nowzari
This paper theoretically investigates the closed-loop performance of active disturbance rejection control (ADRC) on a third-order linear plant with relative degree 3, subject to a…
Lighter-Than-Air Autonomous Ball Capture and Scoring Robot -- Design, Development, and Deployment
Joseph Prince Mathew, Dinesh Karri, James Yang +6
This paper describes the full end-to-end design of our primary scoring agent in an aerial autonomous robotics competition from April 2023. As open-ended robotics competitions becom…
Indirect Swarm Control: Characterization and Analysis of Emergent Swarm Behaviors
Ricardo Vega, Connor Mattson, Daniel S. Brown +1
Emergence and emergent behaviors are often defined as cases where changes in local interactions between agents at a lower level effectively changes what occurs in the higher level…