4 papers
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…
Constrained Learning for Decentralized Multi-Objective Coverage Control
Juan Cervino, Saurav Agarwal, Vijay Kumar +1
The multi-objective coverage control problem requires a robot swarm to collaboratively provide sensor coverage to multiple heterogeneous importance density fields IDFs simultaneous…