105 citations · 284 across the 15 of their papers we have counts for
17 papers
Multi-Robot Coordination and Cooperation with Task Precedence Relationships
Walker Gosrich, Siddharth Mayya, Saaketh Narayan +3
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allow…
The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems
Jake Welde, Matthew D. Kvalheim, Vijay Kumar
Mechanical systems naturally evolve on principal bundles describing their inherent symmetries. The ensuing factorization of the configuration manifold into a symmetry group and an…
SEER: Safe Efficient Exploration for Aerial Robots using Learning to Predict Information Gain
Yuezhan Tao, Yuwei Wu, Beiming Li +4
We address the problem of efficient 3-D exploration in indoor environments for micro aerial vehicles with limited sensing capabilities and payload/power constraints. We develop an…
Active Metric-Semantic Mapping by Multiple Aerial Robots
Xu Liu, Ankit Prabhu, Fernando Cladera +4
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful…
Adaptive Sampling of Latent Phenomena using Heterogeneous Robot Teams (ASLaP-HR)
Matthew Malencia, Sandeep Manjanna, M. Ani Hsieh +2
In this paper, we present an online adaptive planning strategy for a team of robots with heterogeneous sensors to sample from a latent spatial field using a learned model for decis…
Decentralized Risk-Aware Tracking of Multiple Targets
Jiazhen Liu, Lifeng Zhou, Ragesh Ramachandran +2
We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position e…
MARLAS: Multi Agent Reinforcement Learning for cooperated Adaptive Sampling
Lishuo Pan, Sandeep Manjanna, M. Ani Hsieh
The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the…
Stronger Together: Air-Ground Robotic Collaboration Using Semantics
Ian D. Miller, Fernando Cladera, Trey Smith +2
In this work, we present an end-to-end heterogeneous multi-robot system framework where ground robots are able to localize, plan, and navigate in a semantic map created in real tim…
Learning Connectivity-Maximizing Network Configurations
Daniel Mox, Vijay Kumar, Alejandro Ribeiro
In this letter we propose a data-driven approach to optimizing the algebraic connectivity of a team of robots. While a considerable amount of research has been devoted to this prob…
Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy
Xu Liu, Guilherme V. Nardari, Fernando Cladera Ojeda +8
Semantic maps represent the environment using a set of semantically meaningful objects. This representation is storage-efficient, less ambiguous, and more informative, thus facilit…
Graph Neural Networks for Decentralized Multi-Robot Submodular Action Selection
Lifeng Zhou, Vishnu D. Sharma, Qingbiao Li +4
The problem of decentralized multi-robot target tracking asks for jointly selecting actions, e.g., motion primitives, for the robots to maximize target tracking performance with lo…
Large Scale Model Predictive Control with Neural Networks and Primal Active Sets
Steven W. Chen, Tianyu Wang, Nikolay Atanasov +2
This work presents an explicit-implicit procedure to compute a model predictive control (MPC) law with guarantees on recursive feasibility and asymptotic stability. The approach co…
Perimeter-defense Game on Arbitrary Convex Shapes
Daigo Shishika, Vijay Kumar
This paper studies a variant of multi-player reach-avoid game played between intruders and defenders. The intruder team tries to score by sending as many intruders as possible to t…
Memory Augmented Control Networks
Arbaaz Khan, Clark Zhang, Nikolay Atanasov +3
Planning problems in partially observable environments cannot be solved directly with convolutional networks and require some form of memory. But, even memory networks with sophist…
Algorithms for Visibility-Based Monitoring with Robot Teams
Pratap Tokekar, Ashish Kumar Budhiraja, Vijay Kumar
We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We…
Decentralized Goal Assignment and Safe Trajectory Generation in Multi-Robot Networks via Multiple Lyapunov Functions
Dimitra Panagou, Matthew Turpin, Vijay Kumar
This paper considers the problem of decentralized goal assignment and trajectory generation for multi-robot networks when only local communication is available, and proposes an app…
Technical Report: Cooperative Multi-Target Localization With Noisy Sensors
Philip Dames, Vijay Kumar
This technical report is an extended version of the paper 'Cooperative Multi-Target Localization With Noisy Sensors' accepted to the 2013 IEEE International Conference on Robotics…