82 citations · 139 across the 55 of their papers we have counts for
56 papers
Why Cognitive Robotics Matters: Lessons from OntoAgent and LLM Deployment in HARMONIC for Safety-Critical Robot Teaming
Sanjay Oruganti, Sergei Nirenburg, Marjorie McShane +5
Deploying embodied AI agents in the physical world demands cognitive capabilities for long-horizon planning that execute reliably, deterministically, and transparently. We present…
Policies over Poses: Reinforcement Learning based Distributed Pose-Graph Optimization for Multi-Robot SLAM
Sai Krishna Ghanta, Ramviyas Parasuraman
We consider the distributed pose-graph optimization (PGO) problem, which is fundamental in accurate trajectory estimation in multi-robot simultaneous localization and mapping (SLAM…
Distributed Fault-Tolerant Multi-Robot Cooperative Localization in Adversarial Environments
Tohid Kargar Tasooji, Ramviyas Parasuraman
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environm…
Integrating Perceptions: A Human-Centered Physical Safety Model for Human-Robot Interaction
Pranav Pandey, Ramviyas Parasuraman, Prashant Doshi
Ensuring safety in human-robot interaction (HRI) is essential to foster user trust and enable the broader adoption of robotic systems. Traditional safety models primarily rely on s…
Edge Computing and its Application in Robotics: A Survey
Nazish Tahir, Ramviyas Parasuraman
The Edge computing paradigm has gained prominence in both academic and industry circles in recent years. By implementing edge computing facilities and services in robotics, it beco…
MGPRL: Distributed Multi-Gaussian Processes for Wi-Fi-based Multi-Robot Relative Localization in Large Indoor Environments
Sai Krishna Ghanta, Ramviyas Parasuraman
Relative localization is a crucial capability for multi-robot systems operating in GPS-denied environments. Existing approaches for multi-robot relative localization often depend o…
FRESHR-GSI: A Generalized Safety Model and Evaluation Framework for Mobile Robots in Multi-Human Environments
Pranav Pandey, Ramviyas Parasuraman, Prashant Doshi
Human safety is critical in applications involving close human-robot interactions (HRI) and is a key aspect of physical compatibility between humans and robots. While measures of h…
DCL-Sparse: Distributed Range-only Cooperative Localization of Multi-Robots in Noisy and Sparse Sensing Graphs
Atharva Sagale, Tohid Kargar Tasooji, Ramviyas Parasuraman
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and…
SPACE: 3D Spatial Co-operation and Exploration Framework for Robust Mapping and Coverage with Multi-Robot Systems
Sai Krishna Ghanta, Ramviyas Parasuraman
In indoor environments, multi-robot visual (RGB-D) mapping and exploration hold immense potential for application in domains such as domestic service and logistics, where deploying…
Energy-Aware Coverage Planning for Heterogeneous Multi-Robot System
Aiman Munir, Ayan Dutta, Ramviyas Parasuraman
We propose a distributed control law for a heterogeneous multi-robot coverage problem, where the robots could have different energy characteristics, such as capacity and depletion…
Anonymous Self-Stabilising Localisation via Spatial Population Protocols
Leszek Gąsieniec, Łukasz Kuszner, Ehsan Latif +3
In the distributed localization problem (DLP), anonymous robots (agents) begin at arbitrary positions in , where is an Eucli…
Analyzing Human Perceptions of a MEDEVAC Robot in a Simulated Evacuation Scenario
Tyson Jordan, Pranav Pandey, Prashant Doshi +2
The use of autonomous systems in medical evacuation (MEDEVAC) scenarios is promising, but existing implementations overlook key insights from human-robot interaction (HRI) research…
Communication-Aware Consistent Edge Selection for Mobile Users and Autonomous Vehicles
Nazish Tahir, Ramviyas Parasuraman, Haijian Sun
Offloading time-sensitive, computationally intensive tasks-such as advanced learning algorithms for autonomous driving-from vehicles to nearby edge servers, vehicle-to-infrastructu…
Anchor-Oriented Localized Voronoi Partitioning for GPS-denied Multi-Robot Coverage
Aiman Munir, Ehsan Latif, Ramviyas Parasuraman
Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a mul…
Object-Oriented Material Classification and 3D Clustering for Improved Semantic Perception and Mapping in Mobile Robots
Siva Krishna Ravipati, Ehsan Latif, Ramviyas Parasuraman +1
Classification of different object surface material types can play a significant role in the decision-making algorithms for mobile robots and autonomous vehicles. RGB-based scene-l…
ALDM-Grasping: Diffusion-aided Zero-Shot Sim-to-Real Transfer for Robot Grasping
Yiwei Li, Zihao Wu, Huaqin Zhao +6
To tackle the "reality gap" encountered in Sim-to-Real transfer, this study proposes a diffusion-based framework that minimizes inconsistencies in grasping actions between the simu…
PhysicsAssistant: An LLM-Powered Interactive Learning Robot for Physics Lab Investigations
Ehsan Latif, Ramviyas Parasuraman, Xiaoming Zhai
Robot systems in education can leverage Large language models' (LLMs) natural language understanding capabilities to provide assistance and facilitate learning. This paper proposes…
IKT-BT: Indirect Knowledge Transfer Behavior Tree Framework for Multi-Robot Systems Through Communication Eavesdropping
Sanjay Oruganti, Ramviyas Parasuraman, Ramana Pidaparti
Multi-agent and multi-robot systems (MRS) often rely on direct communication for information sharing. This work explores an alternative approach inspired by eavesdropping mechanism…
Utility AI for Dynamic Task Offloading in the Multi-Edge Infrastructure
Nazish Tahir, Ramviyas Parasuraman
To circumvent persistent connectivity to the cloud infrastructure, the current emphasis on computing at network edge devices in the multi-robot domain is a promising enabler for de…
Consensus-based Resource Scheduling for Collaborative Multi-Robot Tasks
Nazish Tahir, Ramviyas Parasuraman
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots…
Map2Schedule: An End-to-End Link Scheduling Method for Urban V2V Communications
Lihao Zhang, Haijian Sun, Jin Sun +3
Urban vehicle-to-vehicle (V2V) link scheduling with shared spectrum is a challenging problem. Its main goal is to find the scheduling policy that can maximize system performance (u…
Instantaneous Wireless Robotic Node Localization Using Collaborative Direction of Arrival
Ehsan Latif, Ramviyas Parasuraman
Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-base…
HGP-RL: Distributed Hierarchical Gaussian Processes for Wi-Fi-based Relative Localization in Multi-Robot Systems
Ehsan Latif, Ramviyas Parasuraman
Relative localization is crucial for multi-robot systems to perform cooperative tasks, especially in GPS-denied environments. Current techniques for multi-robot relative localizati…
CQLite: Communication-Efficient Multi-Robot Exploration Using Coverage-biased Distributed Q-Learning
Ehsan Latif, Ramviyas Parasuraman
Frontier exploration and reinforcement learning have historically been used to solve the problem of enabling many mobile robots to autonomously and cooperatively explore complex su…