39 citations · 74 across the 13 of their papers we have counts for
13 papers
Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned
Pierre-Yves Lajoie, Karthik Soma, Haechan Mark Bong +4
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localiz…
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
Multi-Objective Risk Assessment Framework for Exploration Planning Using Terrain and Traversability Analysis
Riana Gagnon Souleiman, Vivek Shankar Varadharajan, Giovanni Beltrame
Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable…
Hierarchies define the scalability of robot swarms
Vivek Shankar Varadharajan, Karthik Soma, Sepand Dyanatkar +2
The emerging behaviors of swarms have fascinated scientists and gathered significant interest in the field of robotics. Traditionally, swarms are viewed as egalitarian, with robots…
From the Lab to the Theater: An Unconventional Field Robotics Journey
Ali Imran, Vivek Shankar Varadharajan, Rafael Gomes Braga +6
Artistic performances involving robotic systems present unique technical challenges akin to those encountered in other field deployments. In this paper, we delve into the orchestra…
Congestion and Scalability in Robot Swarms: a Study on Collective Decision Making
Karthik Soma, Vivek Shankar Vardharajan, Heiko Hamann +1
One of the most important promises of decentralized systems is scalability, which is often assumed to be present in robot swarm systems without being contested. Simple limitations,…
Energy Sufficiency in Unknown Environments via Control Barrier Functions
Hassan Fouad, Vivek Shankar Varadharajan, Giovanni Beltrame
Maintaining energy sufficiency of a battery-powered robot system is a essential for long-term missions. This capability should be flexible enough to deal with different types of en…
ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity
Maira Saboia, Lillian Clark, Vivek Thangavelu +16
Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves…
Hierarchical Control of Smart Particle Swarms
Vivek Shankar Varadharajan, Sepand Dyanatkar, Giovanni Beltrame
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple l…
Swarm Relays: Distributed Self-Healing Ground-and-Air Connectivity Chains
Vivek Shankar Varadharajan, David St-Onge, Bram Adams +1
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robot…
Failure-Tolerant Connectivity Maintenance for Robot Swarms
Vivek Shankar Varadharajan, Bram Adams, Giovanni Beltrame
Connectivity maintenance plays a key role in achieving a desired global behavior among a swarm of robots. However, connectivity maintenance in realistic environments is hampered by…
Collision-aware Task Assignment for Multi-Robot Systems
Fang Wu, Vivek Shankar Varadharajan, Giovanni Beltrame
We propose a novel formulation of the collision-aware task assignment (CATA) problem and a decentralized auction-based algorithm to solve the problem with optimality bound. Using a…
ROS and Buzz: consensus-based behaviors for heterogeneous teams
David St-Onge, Vivek Shankar Varadharajan, Guannan Li +2
This paper address the challenges encountered by developers when deploying a distributed decision-making behavior on heterogeneous robotic systems. Many applications benefit from t…