5 papers
CoDiMAD: Diffusion-Based Privileged Distillation for Communication-Free Multi-Robot Coordination
Jiyue Tao, Shunheng Xin, Tongsheng Shen +2
Decentralized multi-robot coordination under partial observability remains challenging, especially in communication-free settings where agents must act solely from local sensor obs…
Bioinspired Sensing of Undulatory Flow Fields Generated by Leg Kicks in Swimming
Jun Wang, Tongsheng Shen, Dexin Zhao +1
The artificial lateral line (ALL) is a bioinspired flow sensing system for underwater robots, comprising of distributed flow sensors. The ALL has been successfully applied to detec…
ARBoids: Adaptive Residual Reinforcement Learning With Boids Model for Cooperative Multi-USV Target Defense
Jiyue Tao, Tongsheng Shen, Dexin Zhao +1
The target defense problem (TDP) for unmanned surface vehicles (USVs) concerns intercepting an adversarial USV before it breaches a designated target region, using one or more defe…
An Efficient Learning Control Framework With Sim-to-Real for String-Type Artificial Muscle-Driven Robotic Systems
Jiyue Tao, Yunsong Zhang, Sunil Kumar Rajendran +1
Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional mode…
Estimating the Lateral Motion States of an Underwater Robot by Propeller Wake Sensing Using an Artificial Lateral Line
Jun Wang, Dexin Zhao, Youxi Zhao +2
The artificial lateral line (ALL), comprising distributed flow sensors, has been successful in sensing motion states of bioinspired underwater robots like robotic fish. However, it…