13 citations · 21 across the 11 of their papers we have counts for
19 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…
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…
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…
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…