234 citations · 598 across the 24 of their papers we have counts for
27 papers
DORA: Distributed Online Risk-Aware Explorer
David Vielfaure, Samuel Arseneault, Pierre-Yves Lajoie +1
Exploration of unknown environments is an important challenge in the field of robotics. While a single robot can achieve this task alone, evidence suggests it could be accomplished…
Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape
Pierre-Yves Lajoie, Benjamin Ramtoula, Fang Wu +1
Motivated by the tremendous progress we witnessed in recent years, this paper presents a survey of the scientific literature on the topic of Collaborative Simultaneous Localization…
A Flexible Exoskeleton for Collision Resilience
Ricardo de Azambuja, Hassan Fouad, Giovanni Beltrame
With inspiration from arthropods' exoskeletons, we designed a simple, easily manufactured, semi-rigid structure with flexible joints that can passively damp impact energy. This exo…
The Portiloop: a deep learning-based open science tool for closed-loop brain stimulation
Nicolas Valenchon, Yann Bouteiller, Hugo R. Jourde +4
Closed-loop brain stimulation refers to capturing neurophysiological measures such as electroencephalography (EEG), quickly identifying neural events of interest, and producing aud…
Collective transport via sequential caging
Vivek Shankar Vardharajan, Karthik Soma, Giovanni Beltrame
We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequenti…
Decentralized Connectivity Maintenance with Time Delays using Control Barrier Functions
Beatrice Capelli, Hassan Fouad, Giovanni Beltrame +1
Connectivity maintenance is crucial for the real world deployment of multi-robot systems, as it ultimately allows the robots to communicate, coordinate and perform tasks in a colla…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…
When Being Soft Makes You Tough: A Collision-Resilient Quadcopter Inspired by Arthropods' Exoskeletons
Ricardo de Azambuja, Hassan Fouad, Yann Bouteiller +2
Flying robots are usually rather delicate and require protective enclosures when facing the risk of collision, while high complexity and reduced payload are recurrent problems with…
Multi-robot energy autonomy with wind and constrained resources
Hassan Fouad, Giovanni Beltrame
One aspect of the ever-growing need for long term autonomy of multi-robot systems, is ensuring energy sufficiency. In particular, in scenarios where charging facilities are limited…
MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception
Benjamin Ramtoula, Adam Caccavale, Giovanni Beltrame +1
Determining the relative position and orientation of objects in an environment is a fundamental building block for a wide range of robotics applications. To accomplish this task ef…
Reinforcement Learning with Random Delays
Simon Ramstedt, Yann Bouteiller, Giovanni Beltrame +2
Action and observation delays commonly occur in many Reinforcement Learning applications, such as remote control scenarios. We study the anatomy of randomly delayed environments, a…
VIR-SLAM: Visual, Inertial, and Ranging SLAM for single and multi-robot systems
Yanjun Cao, Giovanni Beltrame
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially…
Accurate position tracking with a single UWB anchor
Yanjun Cao, Chenhao Yang, Rui Li +2
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (S…
CAPRICORN: Communication Aware Place Recognition using Interpretable Constellations of Objects in Robot Networks
Benjamin Ramtoula, Ricardo de Azambuja, Giovanni Beltrame
Using multiple robots for exploring and mapping environments can provide improved robustness and performance, but it can be difficult to implement. In particular, limited communica…
Decentralized Connectivity Control in Quadcopters: a Field Study of Communication Performance
Jacopo Panerati, Benjamin Ramtoula, David St-Onge +5
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires tea…
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
Pierre-Yves Lajoie, Benjamin Ramtoula, Yun Chang +2
To achieve collaborative tasks, robots in a team need to have a shared understanding of the environment and their location within it. Distributed Simultaneous Localization and Mapp…
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…
An Adversarial Approach to Private Flocking in Mobile Robot Teams
Hehui Zheng, Jacopo Panerati, Giovanni Beltrame +1
Privacy is an important facet of defence against adversaries. In this letter, we introduce the problem of private flocking. We consider a team of mobile robots flocking in the pres…
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…
Collaborative Localization and Tracking with Minimal Infrastructure
Yanjun Cao, David St-Onge, Andreas Zell +1
Localization and tracking are two very active areas of research for robotics, automation, and the Internet-of-Things. Accurate tracking for a large number of devices usually requir…
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…
Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models
Pierre-Yves Lajoie, Siyi Hu, Giovanni Beltrame +1
Perceptual aliasing is one of the main causes of failure for Simultaneous Localization and Mapping (SLAM) systems operating in the wild. Perceptual aliasing is the phenomenon where…
Decentralized collaborative transport of fabrics using micro-UAVs
Ryan Cotsakis, David St-Onge, Giovanni Beltrame
Small unmanned aerial vehicles (UAVs) have generally little capacity to carry payloads. Through collaboration, the UAVs can increase their joint payload capacity and carry more sig…
Stop, Think, and Roll: Online Gain Optimization for Resilient Multi-robot Topologies
Marco Minelli, Marcel Kaufmann, Jacopo Panerati +3
Efficient networking of many-robot systems is considered one of the grand challenges of robotics. In this article, we address the problem of achieving resilient, dynamic interconne…