10 papers
Efficient Multi-Agent Coordination via Dynamic Joint-State Graph Construction
Yanlin Zhou, Manshi Limbu, Xuesu Xiao
Multi-agent pathfinding (MAPF) traditionally focuses on collision avoidance, but many real-world applications require active coordination between agents to improve team performance…
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain
Manas Gupta, Xuesu Xiao
Safety has been of paramount importance in motion planning and control techniques and is an active area of research in the past few years. Most safety research for mobile robots ta…
Human-Robot Co-Transportation using Disturbance-Aware MPC with Pose Optimization
Al Jaber Mahmud, Amir Hossain Raj, Duc M. Nguyen +3
This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Mode…
CARoL: Context-aware Adaptation for Robot Learning
Zechen Hu, Tong Xu, Xuesu Xiao +1
Using Reinforcement Learning (RL) to learn new robotic tasks from scratch is often inefficient. Leveraging prior knowledge has the potential to significantly enhance learning effic…
Heterogeneous Team Coordination on Partially Observable Graphs with Realistic Communication
Yanlin Zhou, Manshi Limbu, Xuan Wang +2
Team Coordination on Graphs with Risky Edges (\textsc{tcgre}) is a recently proposed problem, in which robots find paths to their goals while considering possible coordination to r…
Multi-Robot Coordination Induced in an Adversarial Graph-Traversal Game
James Berneburg, Xuan Wang, Xuesu Xiao +1
This paper presents a game theoretic formulation of a graph traversal problem, with applications to robots moving through hazardous environments in the presence of an adversary, as…