5 papers · 1 filter
Safe Ergodic Control for Multi-Robot Systems via Quadratic Programming
Yo Toyomoto, Mohamed Elobaid, Bryce L. Ferguson +2
Ergodic control drives robots to spend time in each region in proportion to a spatial distribution of interest, making it well suited for dense spatiotemporal environmental monitor…
RENEW: Risk- and Energy-Aware Navigation in Dynamic Waterways
Mingi Jeong, Alberto Quattrini Li
We present RENEW, a global path planner for Autonomous Surface Vehicle (ASV) in dynamic environments with external disturbances (e.g., water currents). RENEW introduces a unified r…
Multi-Object Active Search and Tracking by Multiple Agents in Untrusted, Dynamically Changing Environments
Mingi Jeong, Cristian Molinaro, Tonmoay Deb +5
This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with pa…
Active Learning-augmented Intention-aware Obstacle Avoidance of Autonomous Surface Vehicles in High-traffic Waters
Mingi Jeong, Arihant Chadda, Alberto Quattrini Li
This paper enhances the obstacle avoidance of Autonomous Surface Vehicles (ASVs) for safe navigation in high-traffic waters with an active state estimation of obstacle's passing in…
An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion
Luyang Zhao, Yitao Jiang, Chun-Yi She +5
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, wi…