7 papers · 1 filter
A Kinetic Theory of Encounter-Based Information Propagation in Multi-Robot Systems
Alkesh K. Srivastava, Philip Dames
Multi-robot systems cannot assume persistent network connectivity. We study this problem through target tracking, where performance depends on how quickly target information is sen…
Relay-Based Coordination for Energy-Efficient Multi-Robot Pickup and Delivery
Alkesh K. Srivastava, Jared Michael Levin, Philip Dames
We consider the problem of delivering multiple packages from a single depot to distinct goal locations using a homogeneous fleet of robots with limited carrying capacity. We propos…
PFEA: An LLM-based High-Level Natural Language Planning and Feedback Embodied Agent for Human-Centered AI
Wenbin Ding, Jun Chen, Mingjia Chen +3
The rapid advancement of Large Language Models (LLMs) has marked a significant breakthrough in Artificial Intelligence (AI), ushering in a new era of Human-centered Artificial Inte…
Distributed Multi-Robot Multi-Target Simultaneous Search and Tracking in an Unknown Non-convex Environment
Jun Chen, Jiaqing Ma, Philip Dames
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking t…
DELIVER: A System for LLM-Guided Coordinated Multi-Robot Pickup and Delivery using Voronoi-Based Relay Planning
Alkesh K. Srivastava, Jared Michael Levin, Alexander Derrico +1
We present DELIVER (Directed Execution of Language-instructed Item Via Engineered Relay), a fully integrated framework for cooperative multi-robot pickup and delivery driven by nat…
Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps
Timothy Chen, Ola Shorinwa, Joseph Bruno +6
We present Splat-Nav, a real-time robot navigation pipeline for Gaussian Splatting (GSplat) scenes, a powerful new 3D scene representation. Splat-Nav consists of two components: 1)…