7 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…
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…
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…
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)…
A Scalable Multi-Robot Framework for Decentralized and Asynchronous Perception-Action-Communication Loops
Saurav Agarwal, Frederic Vatnsdal, Romina Garcia Camargo +2
Collaboration in large robot swarms to achieve a common global objective is a challenging problem in large environments due to limited sensing and communication capabilities. The r…
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…