425 citations · 1.8k across the 99 of their papers we have counts for
18 papers · 1 filter
Learning Cooperative Multi-Agent Policies with Partial Reward Decoupling
Benjamin Freed, Aditya Kapoor, Ian Abraham +2
One of the preeminent obstacles to scaling multi-agent reinforcement learning to large numbers of agents is assigning credit to individual agents' actions. In this paper, we addres…
A general locomotion control framework for multi-legged locomotors
Baxi Chong, Yasemin O. Aydin, Jennifer M. Rieser +13
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, a…
Autonomous Exploration Development Environment and the Planning Algorithms
Chao Cao, Hongbiao Zhu, Fan Yang +4
Autonomous Exploration Development Environment is an open-source repository released to facilitate the development of high-level planning algorithms and integration of complete aut…
Subdimensional Expansion Using Attention-Based Learning For Multi-Agent Path Finding
Lakshay Virmani, Zhongqiang Ren, Sivakumar Rathinam +1
Multi-Agent Path Finding (MAPF) finds conflict-free paths for multiple agents from their respective start to goal locations. MAPF is challenging as the joint configuration space gr…
The Geometric Structure of Externally Actuated Planar Locomoting Systems in Ambient Media
Blake Buchanan, Tony Dear, Scott Kelly +2
Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion,…
Multi-objective Conflict-based Search Using Safe-interval Path Planning
Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev +1
This paper addresses a generalization of the well known multi-agent path finding (MAPF) problem that optimizes multiple conflicting objectives simultaneously such as travel time an…
Multi-Objective Path-Based D* Lite
Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev +1
Incremental graph search algorithms such as D* Lite reuse previous, and perhaps partial, searches to expedite subsequent path planning tasks. In this article, we are interested in…
Toward Robotically Automated Femoral Vascular Access
Nico Zevallos, Evan Harber, Abhimanyu +9
Advanced resuscitative technologies, such as Extra Corporeal Membrane Oxygenation (ECMO) cannulation or Resuscitative Endovascular Balloon Occlusion of the Aorta (REBOA), are techn…
3D Segmentation Learning from Sparse Annotations and Hierarchical Descriptors
Peng Yin, Lingyun Xu, Jianmin Ji +2
One of the main obstacles to 3D semantic segmentation is the significant amount of endeavor required to generate expensive point-wise annotations for fully supervised training. To…
Learning Modular Robot Control Policies
Julian Whitman, Matthew Travers, Howie Choset
Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just…
Optimal Control for Structurally Sparse Systems using Graphical Inference
Roshan Pradhan, Shuo Yang, Frank Dellaert +2
Dynamical systems with a distributed yet interconnected structure, like multi-rigid-body robots or large-scale multi-agent systems, introduce valuable sparsity into the system dyna…
MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding
Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
In multi-agent applications such as surveillance and logistics, fleets of mobile agents are often expected to coordinate and safely visit a large number of goal locations as effici…
Stability and Control of Chaplygin Beanies Coupled to a Platform through Nonholonomic Constraints
Blake Buchanan, Matthew Travers, Howie Choset +1
Many multi-agent systems in nature are comprised of agents that interact with, and respond to, the dynamics of their environment. In this paper, we approach the study of such agent…
Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions
Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
Multi-agent path finding (MAPF) determines an ensemble of collision-free paths for multiple agents between their respective start and goal locations. Among the available MAPF plann…
The Geometry of Optimal Gaits for Inertia-dominated Kinematic Systems
Ross L. Hatton, Zachary Brock, Shuoqi Chen +5
Isolated mechanical systems -- e.g., those floating in space, in free-fall, or on a frictionless surface -- are able to achieve net rotation by cyclically changing their shape, eve…
Subdimensional Expansion for Multi-objective Multi-agent Path Finding
Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
Conventional multi-agent path planners typically determine a path that optimizes a single objective, such as path length. Many applications, however, may require multiple objective…
Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight
Ramkumar Natarajan, Howie Choset, Maxim Likhachev
Quadrotors can achieve aggressive flight by tracking complex maneuvers and rapidly changing directions. Planning for aggressive flight with trajectory optimization could be incredi…
A Conflict-Based Search Framework for Multi-Objective Multi-Agent Path Finding
Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
Conventional multi-agent path planners typically compute an ensemble of paths while optimizing a single objective, such as path length. However, many applications may require multi…