A Study on Multirobot Quantile Estimation in Natural Environments
Tags: Multi-robot coordination and planning, Multi-robot SLAM
Authors: Isabel M. Rayas Fernández, Christopher E. Denniston, Gaurav S. Sukhatme
Abstract— Quantiles of a natural phenomena can provide scientists with an important understanding of different spreads of concentrations. When there are several available robots, it may be advantageous to pool resources in a collaborative way to improve performance. A multirobot team can be difficult
to practically bring together and coordinate. To this end, we present a study across several axes of the impact of using multiple robots to estimate quantiles of a distribution of interest using an informative path planning formulation. We measure quantile estimation accuracy with increasing team
size to understand what benefits result from a multirobot approach in a drone exploration task of analyzing the algae concentration in lakes. We additionally perform an analysis on several parameters, including the spread of robot initial positions, the planning budget, and inter-robot communication, and find that while using more robots generally results in
lower estimation error, this benefit is achieved under certain conditions. We present our findings in the context of real field robotic applications and discuss the implications of the results and interesting directions for future work.
Reducing Network Load via Message Utility Estimation for Decentralized Multirobot Teams
Tags: Multi-robot coordination and planning, Multi-robot SLAM
Authors: Isabel M. Rayas Fernández, Christopher E. Denniston, Gaurav S. Sukhatme
Abstract— We are motivated by quantile estimation of algae concentration in lakes and how decentralized multirobot teams can effectively tackle this problem. We find that multirobot teams improve performance in this task over single robots, and communication-enabled teams further over communication-deprived teams; however, real robots are resource-constrained, and communication networks cannot support arbitrary message loads, making naive, constant information-sharing but also complex modeling and decision-making infeasible. With this in mind, we propose online, locally computable metrics for determining the utility of transmitting a given message to the other team members and a decision-theoretic approach that chooses to transmit only the most useful messages, using a decentralized and independent framework for maintaining beliefs of other teammates. We validate our approach in simulation on a real-world aquatic dataset, and we show that restricting communication via a utility estimation method based on the expected impact of a message on future teammate behavior results in a 42% decrease in network load while simultaneously decreasing quantile estimation error by 1.84%.
MRNAV Long Term Execution with 8 Quadrotors in a Cluttered Environment
Tags: Multi-robot coordination and planning
MRNAV Experiment Recordings
DREAM: Decentralized Real-time Asynchronous Trajectory Planning for Collision-free Navigation
Tags: Informative path planning, Motion planning, Multi-robot coordination and planning
Decentralized Real-time Asynchronous Probabilistic Trajectory Planning for Collision-free Multi-Robot Navigation in Cluttered Environments.
Related Publications
Senbaslar, Baskin; Sukhatme, Gaurav S.: Asynchronous Real-time Decentralized Multi-Robot Trajectory Planning. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 9972-9979, IEEE, 2022Sampling-Based Motion Planning on Sequenced Manifolds (PSM*)
Tags: Informative path planning, Motion planning, Multi-robot coordination and planning
Sampling-Based Motion Planning on Manifold Sequences
Tags: Informative path planning, Motion planning, Multi-robot coordination and planning
Downwash-Aware Trajectory Planning for Large Quadcopter Teams
Tags: Informative path planning, Motion planning, Multi-robot coordination and planning
This work is in collaboration with the USC ACT Lab.
Related Publications
Preiss, James A.; Hünig, Wolfgang; Ayanian, Nora; Sukhatme, Gaurav S.: Downwash-aware trajectory planning for large quadrotor teams. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, September 24-28, 2017, pp. 250-257, IEEE, 2017Cooperative Control for Target Tracking with Onboard Sensing – 2 drones in a string topology
Tags: Multi-robot coordination and planning, Multi-robot SLAM
We consider the cooperative control of a team of robots to estimate the position of a moving target using onboard sensing. In particular, we do not assume that the robot positions are known, but also estimate their positions using relative onboard sensing. Our probabilistic localization and control method takes into account the motion and sensing capabilities of the individual robots to minimize the expected future uncertainty of the target position. It reasons about multiple possible sensing topologies and incorporates an efficient topology switching technique to generate locally optimal controls in polynomial time complexity. Simulations show the performance of our approach and prove its flexibility to find suitable sensing topologies depending on the limited sensing capabilities of the robots and the movements of the target. Furthermore, we demonstrate the applicability of our method in various experiments with single and multiple quadrotor robots tracking a ground vehicle in an indoor environment.
ICRA 2011 – Cooperative Control of Autonomous Surface Vehicles for Oil Skimming and Cleanup
Tags: Multi-robot coordination and planning, Multi-robot SLAM
Cooperative Control of Autonomous Surface Vehicles for Oil Skimming and Cleanup.
Related Publications
Bhattacharya, Subhrajit; Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.; Kumar, Vijay: Cooperative control of autonomous surface vehicles for oil skimming and cleanup. IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 2374-2379, IEEE, 2011Collective Transport of Robots: Coherent, Minimalist Multi-Robot Leader Following
Tags: Multi-robot coordination and planning, Multi-robot SLAM
Collective Transport of Robots: Emergent Flocking from Minimalist Multi-robot Leader-following: Create robots were fitted with Wii remotes and made to follow a person wearing some Infrared LED harness. The robots are unable to sense each other, but are able to communicate.
Related Publications
Gupta, Megha; Das, Jnaneshwar; Vieira, Marcos Augusto M.; Heidarsson, Hordur Kristinn; Vathsangam, Harshvardhan; Sukhatme, Gaurav S.: Collective transport of robots: Coherent, minimalist multi-robot leader-following. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA, pp. 5834-5840, IEEE, 2009Multi-Robot Collaboration With Range Limited Communication
Tags: Multi-robot coordination and planning, Multi-robot SLAM
Multi-Robot Collaboration with Range-Limited Communication: Experiments with Two Underactuated ASVs.
Related Publications
Arrichiello, Filippo; Das, Jnaneshwar; Heidarsson, Hordur Kristinn; Pereira, Arvind; Chiaverini, Stefano; Sukhatme, Gaurav S.: Multi-Robot Collaboration with Range-Limited Communication: Experiments with Two Underactuated ASVs. Howard, Andrew; Iagnemma, Karl; Kelly, Alonzo (Ed.): Field and Service Robotics, Results of the 7th International Conference, FSR 2009, Cambridge, Massachusetts, USA, 14-16 July 2009, pp. 443-453, Springer, 2009Publications
A Study on Multirobot Quantile Estimation in Natural Environments.
Rayas Fernández, Isabel M.; Denniston, Christopher E.; Sukhatme, Gaurav S.: A Study on Multirobot Quantile Estimation in Natural Environments. CoRR abs/2303.03539, 2023
[PDF]
[Video]
Reducing Network Load via Message Utility Estimation for Decentralized Multirobot Teams.
Rayas Fernández, Isabel M.; Denniston, Christopher E.; Sukhatme, Gaurav S.: Reducing Network Load via Message Utility Estimation for Decentralized Multirobot Teams. IEEE International Conference on Robotics and Automation (ICRA) 2023. Workshop on Communication Challenges in Multi-Robot Systems: Perception, Coordination, and Learning., 2023
[Video]
Reducing Network Load via Message Utility Estimation for Decentralized Multirobot Teams.
Rayas Fernández, Isabel M.; Denniston, Christopher E.; Sukhatme, Gaurav S.: Reducing Network Load via Message Utility Estimation for Decentralized Multirobot Teams. Submitted to MRS 2023, 2023
[PDF]
[Video]
DREAM: Decentralized Real-time Asynchronous Probabilistic Trajectory Planning for Collision-free Multi-Robot Navigation in Cluttered Environments.
Senbaslar, Baskin; Sukhatme, Gaurav S.: DREAM: Decentralized Real-time Asynchronous Probabilistic Trajectory Planning for Collision-free Multi-Robot Navigation in Cluttered Environments. CoRR, vol. abs/2307.15887, 2023
[Video]
[Twitter]
Parallel multi-speed Pursuit-Evasion Game algorithms.
Santos, Renato Fernando; Ramachandran, Ragesh K.; Vieira, Marcos A. M.; Sukhatme, Gaurav S.: Parallel multi-speed Pursuit-Evasion Game algorithms. Robotics Auton. Syst., vol. 163, pp. 104382, 2023
[Video]
[Twitter]
[LinkedIn]
[Website]
[Other]
The Role of Heterogeneity in Autonomous Perimeter Defense Problems.
Adler, Aviv; Mickelin, Oscar; Ramachandran, Ragesh K.; Sukhatme, Gaurav S.; Karaman, Sertac: The Role of Heterogeneity in Autonomous Perimeter Defense Problems. CoRR, vol. abs/2202.10433, 2022
Decentralized Risk-Aware Tracking of Multiple Targets.
Liu, Jiazhen; Zhou, Lifeng; Ramachandran, Ragesh K.; Sukhatme, Gaurav S.; Kumar, Vijay: Decentralized Risk-Aware Tracking of Multiple Targets. CoRR, vol. abs/2208.02772, 2022
CH-MARL: A Multimodal Benchmark for Cooperative, Heterogeneous Multi-Agent Reinforcement Learning.
Sharma, Vasu; Goyal, Prasoon; Lin, Kaixiang; Thattai, Govind; Gao, Qiaozi; Sukhatme, Gaurav S.: CH-MARL: A Multimodal Benchmark for Cooperative, Heterogeneous Multi-Agent Reinforcement Learning. CoRR, vol. abs/2208.13626, 2022
Adaptive and Risk-Aware Target Tracking for Robot Teams With Heterogeneous Sensors.
Mayya, Siddharth; Ramachandran, Ragesh K.; Zhou, Lifeng; Senthil, Vinay; Thakur, Dinesh; Sukhatme, Gaurav S.; Kumar, Vijay: Adaptive and Risk-Aware Target Tracking for Robot Teams With Heterogeneous Sensors. IEEE Robotics Autom. Lett., vol. 7, no. 2, pp. 5615-5622, 2022
Resilient Monitoring in Heterogeneous Multi-Robot Systems Through Network Reconfiguration.
Ramachandran, Ragesh Kumar; Pierpaoli, Pietro; Egerstedt, Magnus; Sukhatme, Gaurav S.: Resilient Monitoring in Heterogeneous Multi-Robot Systems Through Network Reconfiguration. IEEE Trans. Robotics, vol. 38, no. 1, pp. 126-138, 2022
Introduction to the Special Section on Resilience in Networked Robotic Systems.
Prorok, Amanda; Kumar, Vijay; Sadler, Brian M.; Sukhatme, Gaurav S.: Introduction to the Special Section on Resilience in Networked Robotic Systems. IEEE Trans. Robotics, vol. 38, no. 1, pp. 2-4, 2022
Asynchronous Real-time Decentralized Multi-Robot Trajectory Planning.
Senbaslar, Baskin; Sukhatme, Gaurav S.: Asynchronous Real-time Decentralized Multi-Robot Trajectory Planning. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 9972-9979, IEEE, 2022
The Role of Heterogeneity in Autonomous Perimeter Defense Problems.
Adler, Aviv; Mickelin, Oscar; Ramachandran, Ragesh K.; Sukhatme, Gaurav S.; Karaman, Sertac: The Role of Heterogeneity in Autonomous Perimeter Defense Problems. LaValle, Steven M.; O'Kane, Jason M.; Otte, Michael W.; Sadigh, Dorsa; Tokekar, Pratap (Ed.): Algorithmic Foundations of Robotics XV - Proceedings of the Fifteenth Workshop on the Algorithmic Foundations of Robotics, WAFR 2022, College Park, MD, USA, 22-24 June, 2022, pp. 115-131, Springer, 2022
Adaptive and Risk-Aware Target Tracking with Heterogeneous Robot Teams.
Mayya, Siddharth; Ramachandran, Ragesh K.; Zhou, Lifeng; Sukhatme, Gaurav S.; Kumar, Vijay: Adaptive and Risk-Aware Target Tracking with Heterogeneous Robot Teams. CoRR, vol. abs/2105.03813, 2021
Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems.
Prorok, Amanda; Malencia, Matthew; Carlone, Luca; Sukhatme, Gaurav S.; Sadler, Brian M.; Kumar, Vijay: Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems. CoRR, vol. abs/2109.12343, 2021
Resilience in Multirobot Multitarget Tracking With Unknown Number of Targets Through Reconfiguration.
Ramachandran, Ragesh Kumar; Fronda, Nicole; Sukhatme, Gaurav S.: Resilience in Multirobot Multitarget Tracking With Unknown Number of Targets Through Reconfiguration. IEEE Trans. Control. Netw. Syst., vol. 8, no. 2, pp. 609-620, 2021
Sampling-Based Motion Planning on Sequenced Manifolds.
Englert, Peter; Rayas Fernández, Isabel M.; Ramachandran, Ragesh Kumar; Sukhatme, Gaurav S.: Sampling-Based Motion Planning on Sequenced Manifolds. Robotics: Science and Systems, 2021. (RSS), 2021
[Video]
Resilience in multi-robot target tracking through reconfiguration.
Ramachandran, Ragesh K.; Fronda, Nicole; Sukhatme, Gaurav S.: Resilience in multi-robot target tracking through reconfiguration. 2020 IEEE International Conference on Robotics and Automation, ICRA 2020, Paris, France, May 31 - August 31, 2020, pp. 4551-4557, IEEE, 2020
Resilience in multi-robot multi-target tracking with unknown number of targets through reconfiguration.
Ramachandran, Ragesh K.; Fronda, Nicole; Sukhatme, Gaurav S.: Resilience in multi-robot multi-target tracking with unknown number of targets through reconfiguration. CoRR, vol. abs/2004.07197, 2020
Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration.
Ramachandran, Ragesh K.; Pierpaoli, Pietro; Egerstedt, Magnus; Sukhatme, Gaurav S.: Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration. CoRR, vol. abs/2008.01321, 2020
Pac-Man is Overkill.
Santos, Renato Fernando; Ramachandran, Ragesh K.; Vieira, Marcos Augusto M.; Sukhatme, Gaurav S.: Pac-Man is Overkill. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, NV, USA, October 24, 2020 - January 24, 2021, pp. 11652-11657, IEEE, 2020
Resilient Coverage: Exploring the Local-to-Global Trade-off.
Ramachandran, Ragesh K.; Zhou, Lifeng; Preiss, James A.; Sukhatme, Gaurav S.: Resilient Coverage: Exploring the Local-to-Global Trade-off. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, NV, USA, October 24, 2020 - January 24, 2021, pp. 11740-11747, IEEE, 2020
Persistent Connected Power Constrained Surveillance with Unmanned Aerial Vehicles.
Ghosh, Pradipta; Tabuada, Paulo; Govindan, Ramesh; Sukhatme, Gaurav S.: Persistent Connected Power Constrained Surveillance with Unmanned Aerial Vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, NV, USA, October 24, 2020 - January 24, 2021, pp. 1501-1508, IEEE, 2020
Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams.
Ramachandran, Ragesh K.; Preiss, James A.; Sukhatme, Gaurav S.: Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, SAR, China, November 3-8, 2019, pp. 6518-6525, IEEE, 2019
Resilience in multi-robot target tracking through reconfiguration.
Ramachandran, Ragesh K.; Fronda, Nicole; Sukhatme, Gaurav S.: Resilience in multi-robot target tracking through reconfiguration. CoRR, vol. abs/1910.01300, 2019
Resilient Coverage: Exploring the Local-to-Global Trade-off.
Ramachandran, Ragesh K.; Zhou, Lifeng; Sukhatme, Gaurav S.: Resilient Coverage: Exploring the Local-to-Global Trade-off. CoRR, vol. abs/1910.01917, 2019
Coordinating multi-robot systems through environment partitioning for adaptive informative sampling.
Fung, Nicholas; III, John G. Rogers; Nieto, Carlos; Christensen, Henrik I.; Kemna, Stephanie; Sukhatme, Gaurav S.: Coordinating multi-robot systems through environment partitioning for adaptive informative sampling. International Conference on Robotics and Automation, ICRA 2019, Montreal, QC, Canada, May 20-24, 2019, pp. 3231-3237, IEEE, 2019
Trajectory Planning for Quadrotor Swarms.
Hünig, Wolfgang; Preiss, James A.; Kumar, T. K. Satish; Sukhatme, Gaurav S.; Ayanian, Nora: Trajectory Planning for Quadrotor Swarms. IEEE Trans. Robotics, vol. 34, no. 4, pp. 856-869, 2018
On-Line Coordination Tasks for Multi-robot Systems Using Adaptive Informative Sampling.
Nieto-Granda, Carlos; III, John G. Rogers; Fung, Nicholas; Kemna, Stephanie; Christensen, Henrik I.; Sukhatme, Gaurav S.: On-Line Coordination Tasks for Multi-robot Systems Using Adaptive Informative Sampling. Xiao, Jing; Krüger, Torsten; Khatib, Oussama (Ed.): Proceedings of the 2018 International Symposium on Experimental Robotics, ISER 2018, Buenos Aires, Argentina, November 5-8, 2018, pp. 318-327, Springer, 2018
Multi-robot coordination through dynamic Voronoi partitioning for informative adaptive sampling in communication-constrained environments.
Kemna, Stephanie; Rogers, John G.; Nieto-Granda, Carlos; Young, Stuart; Sukhatme, Gaurav S.: Multi-robot coordination through dynamic Voronoi partitioning for informative adaptive sampling in communication-constrained environments. 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, May 29 - June 3, 2017, pp. 2124-2130, IEEE, 2017
Crazyswarm: A large nano-quadcopter swarm.
Preiss, James A.; Hünig, Wolfgang; Sukhatme, Gaurav S.; Ayanian, Nora: Crazyswarm: A large nano-quadcopter swarm. 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, May 29 - June 3, 2017, pp. 3299-3304, IEEE, 2017
Downwash-aware trajectory planning for large quadrotor teams.
Preiss, James A.; Hünig, Wolfgang; Ayanian, Nora; Sukhatme, Gaurav S.: Downwash-aware trajectory planning for large quadrotor teams. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, September 24-28, 2017, pp. 250-257, IEEE, 2017
Generalized Topology Control for Nonholonomic Teams With Discontinuous Interactions.
Williams, Ryan K.; Gasparri, Andrea; Ulivi, Giovanni; Sukhatme, Gaurav S.: Generalized Topology Control for Nonholonomic Teams With Discontinuous Interactions. IEEE Trans. Robotics, vol. 33, no. 4, pp. 994-1001, 2017
Occlusion-aware multi-robot 3D tracking.
Hausman, Karol; Kahn, Gregory; Patil, Sachin; Mþller, Jürg; Goldberg, Ken; Abbeel, Pieter; Sukhatme, Gaurav S.: Occlusion-aware multi-robot 3D tracking. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016, pp. 1863-1870, IEEE, 2016
Multi-robot Informative and Adaptive Planning for Persistent Environmental Monitoring.
Ma, Kai-Chieh; Ma, Zhibei; Liu, Lantao; Sukhatme, Gaurav S.: Multi-robot Informative and Adaptive Planning for Persistent Environmental Monitoring. Groë, Roderich; Kolling, Andreas; Berman, Spring; Frazzoli, Emilio; Martinoli, Alcherio; Matsuno, Fumitoshi; Gauci, Melvin (Ed.): Distributed Autonomous Robotic Systems, The 13th International Symposium, DARS 2016, Natural History Museum, London, UK, November 7-9, 2016, pp. 285-298, Springer, 2016
Multiple Mobile Robot Systems.
Parker, Lynne E.; Rus, Daniela; Sukhatme, Gaurav S.: Multiple Mobile Robot Systems. Siciliano, Bruno; Khatib, Oussama (Ed.): Springer Handbook of Robotics, pp. 1335-1384, Springer, 2016
Redundantly rigid topologies in decentralized multi-agent networks.
Williams, Ryan K.; Gasparri, Andrea; Soffietti, Matteo; Sukhatme, Gaurav S.: Redundantly rigid topologies in decentralized multi-agent networks. 54th IEEE Conference on Decision and Control, CDC 2015, Osaka, Japan, December 15-18, 2015, pp. 6101-6108, IEEE, 2015
Global connectivity control for spatially interacting multi-robot systems with unicycle kinematics.
Williams, Ryan K.; Gasparri, Andrea; Sukhatme, Gaurav S.; Ulivi, Giovanni: Global connectivity control for spatially interacting multi-robot systems with unicycle kinematics. IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015, pp. 1255-1261, IEEE, 2015
Observability in topology-constrained multi-robot target tracking.
Williams, Ryan K.; Sukhatme, Gaurav S.: Observability in topology-constrained multi-robot target tracking. IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015, pp. 1795-1801, IEEE, 2015
Active drifters: Towards a practical multi-robot system for ocean monitoring.
Molchanov, Artem; Breitenmoser, Andreas; Sukhatme, Gaurav S.: Active drifters: Towards a practical multi-robot system for ocean monitoring. IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015, pp. 545-552, IEEE, 2015
Rigidity-Preserving Team Partitions in Multiagent Networks.
Carboni, Daniela; Williams, Ryan K.; Gasparri, Andrea; Ulivi, Giovanni; Sukhatme, Gaurav S.: Rigidity-Preserving Team Partitions in Multiagent Networks. IEEE Trans. Cybern., vol. 45, no. 12, pp. 2640-2653, 2015
Decentralized and Parallel Constructions for Optimally Rigid Graphs in R2.
Gasparri, Andrea; Williams, Ryan K.; Priolo, Attilio; Sukhatme, Gaurav S.: Decentralized and Parallel Constructions for Optimally Rigid Graphs in R2. IEEE Trans. Mob. Comput., vol. 14, no. 11, pp. 2216-2228, 2015
Distributed Data Fusion for Multirobot Search.
Hollinger, Geoffrey A.; Yerramalli, Srinivas; Singh, Sanjiv; Mitra, Urbashi; Sukhatme, Gaurav S.: Distributed Data Fusion for Multirobot Search. IEEE Trans. Robotics, vol. 31, no. 1, pp. 55-66, 2015
Cooperative multi-robot control for target tracking with onboard sensing.
Hausman, Karol; Mþller, Jürg; Hariharan, Abishek; Ayanian, Nora; Sukhatme, Gaurav S.: Cooperative multi-robot control for target tracking with onboard sensing. Int. J. Robotics Res., vol. 34, no. 13, pp. 1660-1677, 2015
A topological approach to using cables to separate and manipulate sets of objects.
Bhattacharya, Subhrajit; Kim, Soonkyum; Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.; Kumar, Vijay: A topological approach to using cables to separate and manipulate sets of objects. Int. J. Robotics Res., vol. 34, no. 6, pp. 799-815, 2015
Decentralized algorithms for optimally rigid network constructions.
Priolo, Attilio; Williams, Ryan K.; Gasparri, Andrea; Sukhatme, Gaurav S.: Decentralized algorithms for optimally rigid network constructions. 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, May 31 - June 7, 2014, pp. 5010-5015, IEEE, 2014
Cooperative Control for Target Tracking with Onboard Sensing.
Hausman, Karol; Mþller, Jürg; Hariharan, Abishek; Ayanian, Nora; Sukhatme, Gaurav S.: Cooperative Control for Target Tracking with Onboard Sensing. Hsieh, M. Ani; Khatib, Oussama; Kumar, Vijay (Ed.): Experimental Robotics - The 14th International Symposium on Experimental Robotics, ISER 2014, June 15-18, 2014, Marrakech and Essaouira, Morocco, pp. 879-892, Springer, 2014
Evaluating Network Rigidity in Realistic Systems: Decentralization, Asynchronicity, and Parallelization.
Williams, Ryan K.; Gasparri, Andrea; Priolo, Attilio; Sukhatme, Gaurav S.: Evaluating Network Rigidity in Realistic Systems: Decentralization, Asynchronicity, and Parallelization. IEEE Trans. Robotics, vol. 30, no. 4, pp. 950-965, 2014
Topology-constrained flocking in locally interacting mobile networks.
Williams, Ryan K.; Sukhatme, Gaurav S.: Topology-constrained flocking in locally interacting mobile networks. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 2002-2007, IEEE, 2013
Locally constrained connectivity control in mobile robot networks.
Williams, Ryan K.; Sukhatme, Gaurav S.: Locally constrained connectivity control in mobile robot networks. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 901-906, IEEE, 2013
Decentralized generic rigidity evaluation in interconnected systems.
Williams, Ryan K.; Gasparri, Andrea; Priolo, Attilio; Sukhatme, Gaurav S.: Decentralized generic rigidity evaluation in interconnected systems. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 3-7, 2013, pp. 5093-5099, IEEE, 2013
Mitigating multi-path fading in a mobile mesh network.
Vieira, Marcos Augusto M.; Taylor, Matthew E.; Tandon, Prateek; Jain, Manish; Govindan, Ramesh; Sukhatme, Gaurav S.; Tambe, Milind: Mitigating multi-path fading in a mobile mesh network. Ad Hoc Networks, vol. 11, no. 4, pp. 1510-1521, 2013
An autonomous Wireless Networked Robotics System for backbone deployment in highly-obstructed environments.
Vieira, Marcos Augusto M.; Govindan, Ramesh; Sukhatme, Gaurav S.: An autonomous Wireless Networked Robotics System for backbone deployment in highly-obstructed environments. Ad Hoc Networks, vol. 11, no. 7, pp. 1963-1974, 2013
Constrained Interaction and Coordination in Proximity-Limited Multiagent Systems.
Williams, Ryan K.; Sukhatme, Gaurav S.: Constrained Interaction and Coordination in Proximity-Limited Multiagent Systems. IEEE Trans. Robotics, vol. 29, no. 4, pp. 930-944, 2013
Editorial.
Sadler, Brian M.; Rus, Daniela; Sukhatme, Gaurav S.: Editorial. Int. J. Robotics Res., vol. 32, no. 12, pp. 1361-1362, 2013
A Topological Approach to Using Cables to Separate and Manipulate Sets of Objects.
Kim, Soonkyum; Bhattacharya, Subhrajit; Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.; Kumar, Vijay: A Topological Approach to Using Cables to Separate and Manipulate Sets of Objects. Newman, Paul; Fox, Dieter; Hsu, David (Ed.): Robotics: Science and Systems IX, Technische Universitît Berlin, Berlin, Germany, June 24 - June 28, 2013, 2013
Distributed combinatorial rigidity control in multi-agent networks.
Williams, Ryan K.; Gasparri, Andrea; Priolo, Attilio; Sukhatme, Gaurav S.: Distributed combinatorial rigidity control in multi-agent networks. Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, December 10-13, 2013, pp. 6061-6066, IEEE, 2013
Cooperative caging and transport using autonomous aquatic surface vehicles.
Arrichiello, Filippo; Heidarsson, Hordur Kristinn; Chiaverini, Stefano; Sukhatme, Gaurav S.: Cooperative caging and transport using autonomous aquatic surface vehicles. Intell. Serv. Robotics, vol. 5, no. 1, pp. 73-87, 2012
Towards mixed-initiative, multi-robot field experiments: Design, deployment, and lessons learned.
Das, Jnaneshwar; Maughan, Thom; McCann, Mike; Godin, Mike; O'Reilly, Tom; Messie, Monique; Bahr, Fred; Gomes, Kevin; Py, Frederic; Bellingham, James G.; Sukhatme, Gaurav S.; Rajan, Kanna: Towards mixed-initiative, multi-robot field experiments: Design, deployment, and lessons learned. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011, pp. 3132-3139, IEEE, 2011
Cooperative control of autonomous surface vehicles for oil skimming and cleanup.
Bhattacharya, Subhrajit; Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.; Kumar, Vijay: Cooperative control of autonomous surface vehicles for oil skimming and cleanup. IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 2374-2379, IEEE, 2011
Distributed coordination and data fusion for underwater search.
Hollinger, Geoffrey A.; Yerramalli, Srinivas; Singh, Sanjiv; Mitra, Urbashi; Sukhatme, Gaurav S.: Distributed coordination and data fusion for underwater search. IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 349-355, IEEE, 2011
Towards autonomous wireless backbone deployment in highly-obstructed environments.
Vieira, Marcos Augusto M.; Govindan, Ramesh; Sukhatme, Gaurav S.: Towards autonomous wireless backbone deployment in highly-obstructed environments. IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 5369-5374, IEEE, 2011
Communication protocols for underwater data collection using a robotic sensor network.
Hollinger, Geoffrey A.; Choudhary, Sunav; Qarabaqi, Parastoo; Murphy, Christopher; Mitra, Urbashi; Sukhatme, Gaurav S.; Stojanovic, Milica; Singh, Hanumant; Hover, Franz S.: Communication protocols for underwater data collection using a robotic sensor network. Workshops Proceedings of the Global Communications Conference, GLOBECOM 2011, 5-9 December 2011, Houston, Texas, USA, pp. 1308-1313, IEEE, 2011
Cooperative caging using autonomous aquatic surface vehicles.
Arrichiello, Filippo; Heidarsson, Hordur Kristinn; Chiaverini, Stefano; Sukhatme, G. Stefano: Cooperative caging using autonomous aquatic surface vehicles. IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010, pp. 4763-4769, IEEE, 2010
Weighted barrier functions for computation of force distributions with friction cone constraints.
Borgstrom, Per Henrik; Batalin, Maxim A.; Sukhatme, Gaurav S.; Kaiser, William J.: Weighted barrier functions for computation of force distributions with friction cone constraints. IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010, pp. 785-792, IEEE, 2010
Architecture-driven self-adaptation and self-management in robotics systems.
Edwards, George; Garcia, Joshua; Tajalli, Hossein; Popescu, Daniel; Medvidovic, Nenad; Sukhatme, Gaurav S.; Petrus, Brad: Architecture-driven self-adaptation and self-management in robotics systems. 2009 ICSE Workshop on Software Engineering for Adaptive and Self-Managing Systems, SEAMS 2009, Vancouver, BC, Canada, May 18-19, 2009, pp. 142-151, IEEE Computer Society, 2009
Distributed coverage control for mobile sensors with location-dependent sensing models.
Deshpande, Ajay; Poduri, Sameera; Rus, Daniela; Sukhatme, Gaurav S.: Distributed coverage control for mobile sensors with location-dependent sensing models. 2009 IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, May 12-17, 2009, pp. 2344-2349, IEEE, 2009
Collective transport of robots: Coherent, minimalist multi-robot leader-following.
Gupta, Megha; Das, Jnaneshwar; Vieira, Marcos Augusto M.; Heidarsson, Hordur Kristinn; Vathsangam, Harshvardhan; Sukhatme, Gaurav S.: Collective transport of robots: Coherent, minimalist multi-robot leader-following. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA, pp. 5834-5840, IEEE, 2009
Connectivity vs. control: Using directional and positional cues to stabilize routing in robot networks.
Dantu, Karthik; Sukhatme, Gaurav S.: Connectivity vs. control: Using directional and positional cues to stabilize routing in robot networks. Govindan, Ramesh; Stły, Kasper (Ed.): 2nd International ICST Conference on Robot Communication and Coordination, ROBOCOMM 2009, Odense, Denmark, March 31 - April 2, 2009, pp. 1-6, ICST/IEEE, 2009
Minimizing sum distortion for static and mobile fusion center placement in underwater sensor networks.
Vedantam, Satish; Mitra, Urbashi; Sukhatme, Gaurav S.; Arrichiello, Filippo: Minimizing sum distortion for static and mobile fusion center placement in underwater sensor networks. Govindan, Ramesh; Stły, Kasper (Ed.): 2nd International ICST Conference on Robot Communication and Coordination, ROBOCOMM 2009, Odense, Denmark, March 31 - April 2, 2009, pp. 1-6, ICST/IEEE, 2009
Scalable and practical pursuit-evasion.
Vieira, Marcos Augusto M.; Govindan, Ramesh; Sukhatme, Gaurav S.: Scalable and practical pursuit-evasion. Govindan, Ramesh; Stły, Kasper (Ed.): 2nd International ICST Conference on Robot Communication and Coordination, ROBOCOMM 2009, Odense, Denmark, March 31 - April 2, 2009, pp. 1-6, ICST/IEEE, 2009
Effects of underwater communication constraints on the control of marine robot teams.
Arrichiello, Filippo; Liu, Daniel N.; Yerramalli, Srinivas; Pereira, Arvind; Das, Jnaneshwar; Mitra, Urbashi; Sukhatme, Gaurav S.: Effects of underwater communication constraints on the control of marine robot teams. Govindan, Ramesh; Stły, Kasper (Ed.): 2nd International ICST Conference on Robot Communication and Coordination, ROBOCOMM 2009, Odense, Denmark, March 31 - April 2, 2009, pp. 1-8, ICST/IEEE, 2009
A Communication Framework for Cost-Effective Operation of AUVs in Coastal Regions.
Pereira, Arvind; Heidarsson, Hordur Kristinn; Oberg, Carl; Caron, David A.; Jones, Burton H.; Sukhatme, Gaurav S.: A Communication Framework for Cost-Effective Operation of AUVs in Coastal Regions. Howard, Andrew; Iagnemma, Karl; Kelly, Alonzo (Ed.): Field and Service Robotics, Results of the 7th International Conference, FSR 2009, Cambridge, Massachusetts, USA, 14-16 July 2009, pp. 433-442, Springer, 2009
Multi-Robot Collaboration with Range-Limited Communication: Experiments with Two Underactuated ASVs.
Arrichiello, Filippo; Das, Jnaneshwar; Heidarsson, Hordur Kristinn; Pereira, Arvind; Chiaverini, Stefano; Sukhatme, Gaurav S.: Multi-Robot Collaboration with Range-Limited Communication: Experiments with Two Underactuated ASVs. Howard, Andrew; Iagnemma, Karl; Kelly, Alonzo (Ed.): Field and Service Robotics, Results of the 7th International Conference, FSR 2009, Cambridge, Massachusetts, USA, 14-16 July 2009, pp. 443-453, Springer, 2009
Using Local Geometry for Tunable Topology Control in Sensor Networks.
Poduri, Sameera; Pattem, Sundeep; Krishnamachari, Bhaskar; Sukhatme, Gaurav S.: Using Local Geometry for Tunable Topology Control in Sensor Networks. IEEE Trans. Mob. Comput., vol. 8, no. 2, pp. 218-230, 2009
Rapid Computation of Optimally Safe Tension Distributions for Parallel Cable-Driven Robots.
Borgstrom, Per Henrik; Jordan, Brett L.; Sukhatme, Gaurav S.; Batalin, Maxim A.; Kaiser, William J.: Rapid Computation of Optimally Safe Tension Distributions for Parallel Cable-Driven Robots. IEEE Trans. Robotics, vol. 25, no. 6, pp. 1271-1281, 2009
Scalable and practical pursuit-evasion with networked robots.
Vieira, Marcos Augusto M.; Govindan, Ramesh; Sukhatme, Gaurav S.: Scalable and practical pursuit-evasion with networked robots. Intell. Serv. Robotics, vol. 2, no. 4, pp. 247-263, 2009
Multi-robot task allocation through vacancy chain scheduling.
Dahl, Torbjłrn S.; Mataric, Maja J.; Sukhatme, Gaurav S.: Multi-robot task allocation through vacancy chain scheduling. Robotics Auton. Syst., vol. 57, no. 6-7, pp. 674-687, 2009
A framework for multi-robot node coverage in sensor networks.
Gasparri, Andrea; Krishnamachari, Bhaskar; Sukhatme, Gaurav S.: A framework for multi-robot node coverage in sensor networks. Ann. Math. Artif. Intell., vol. 52, no. 2-4, pp. 281-305, 2008
Autonomous biconnected networks of mobile robots.
Butterfield, Jesse; Dantu, Karthik; Gerkey, Brian P.; Jenkins, Odest Chadwicke; Sukhatme, Gaurav S.: Autonomous biconnected networks of mobile robots. Karl, Holger; Westhoff, Dirk (Ed.): 6th International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks and Workshops, WIOPT 2008, March 31 - April 4, 2008, Berlin, Germany, pp. 640-646, IEEE, 2008
Networked Robots.
Kumar, Vijay; Rus, Daniela; Sukhatme, Gaurav S.: Networked Robots. Siciliano, Bruno; Khatib, Oussama (Ed.): Springer Handbook of Robotics, pp. 943-958, Springer, 2008
Latency Analysis of Coalescence for Robot Groups.
Poduri, Sameera; Sukhatme, Gaurav S.: Latency Analysis of Coalescence for Robot Groups. 2007 IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 April 2007, Roma, Italy, pp. 3295-3300, IEEE, 2007
Adaptive teams of autonomous aerial and ground robots for situational awareness.
Hsieh, M. Ani; Cowley, Anthony; Keller, James F.; Chaimowicz, Luiz; Grocholsky, Ben; Kumar, Vijay; Taylor, Camillo J.; Endo, Yoichiro; Arkin, Ronald C.; Jung, Boyoon; Wolf, Denis F.; Sukhatme, Gaurav S.; MacKenzie, Douglas C.: Adaptive teams of autonomous aerial and ground robots for situational awareness. J. Field Robotics, vol. 24, no. 11-12, pp. 991-1014, 2007
Achieving connectivity through coalescence in mobile robot networks.
Poduri, Sameera; Sukhatme, Gaurav S.: Achieving connectivity through coalescence in mobile robot networks. Winfield, Alan F. T.; Redi, Jason (Ed.): Proceedings of the 1st International Conference on Robot Communication and Coordination, ROBOCOMM 2007, Athens, Greece, October 15-17, 2007, pp. 4, ICST/ACM, 2007
Optimum Camera Angle for Optic Flow-Based Centering Response.
Hrabar, Stefan; Sukhatme, Gaurav S.: Optimum Camera Angle for Optic Flow-Based Centering Response. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 9-15, 2006, Beijing, China, pp. 3922-3927, IEEE, 2006
Cooperative Multi-robot Target Tracking.
Jung, Boyoon; Sukhatme, Gaurav S.: Cooperative Multi-robot Target Tracking. Gini, Maria L.; Voyles, Richard M. (Ed.): Distributed Autonomous Robotic Systems 7, Proceedings of the 8th International Symposium on Distributed Autonomous Robotic Systems, DARS 2006, Minneapolis, Minnesota, USA, 2006, pp. 81-90, Springer, 2006
Experiments with a Large Heterogeneous Mobile Robot Team: Exploration, Mapping, Deployment and Detection.
Howard, Andrew; Parker, Lynne E.; Sukhatme, Gaurav S.: Experiments with a Large Heterogeneous Mobile Robot Team: Exploration, Mapping, Deployment and Detection. Int. J. Robotics Res., vol. 25, no. 5-6, pp. 431-447, 2006
Robomote: enabling mobility in sensor networks.
Dantu, Karthik; Rahimi, Mohammad H.; Shah, Hardik; Babel, Sandeep; Dhariwal, Amit; Sukhatme, Gaurav S.: Robomote: enabling mobility in sensor networks. Proceedings of the Fourth International Symposium on Information Processing in Sensor Networks, IPSN 2005, April 25-27, 2005, UCLA, Los Angeles, California, USA, pp. 404-409, IEEE, 2005
Emergent Robot Differentiation for Distributed Multi-Robot Task Allocation.
Dahl, Torbjłrn S.; Mataric, Maja J.; Sukhatme, Gaurav S.: Emergent Robot Differentiation for Distributed Multi-Robot Task Allocation. Alami, Rachid; Chatila, Raja; Asama, Hajime (Ed.): Distributed Autonomous Robotic Systems 6, Proceedings of the 7th International Symposium on Distributed Autonomous Robotic Systems, DARS 2004, Toulouse, France, June 23-25, 2004, pp. 201-210, Springer, 2004
Lateral and Longitudinal Stability for Decentralized Formation Control.
Naffin, David J.; Akar, Mehmet; Sukhatme, Gaurav S.: Lateral and Longitudinal Stability for Decentralized Formation Control. Alami, Rachid; Chatila, Raja; Asama, Hajime (Ed.): Distributed Autonomous Robotic Systems 6, Proceedings of the 7th International Symposium on Distributed Autonomous Robotic Systems, DARS 2004, Toulouse, France, June 23-25, 2004, pp. 443-452, Springer, 2004
The SDR Experience: Experiments with a Large-Scale Heterogeneous Mobile Robot Team.
Howard, Andrew; Parker, Lynne E.; Sukhatme, Gaurav S.: The SDR Experience: Experiments with a Large-Scale Heterogeneous Mobile Robot Team. Jr., Marcelo H. Ang; Khatib, Oussama (Ed.): Experimental Robotics IX, The 9th International Symposium on Experimental Robotics [ISER 2004, Singapore, 18.-21. June 2004], pp. 121-130, Springer, 2004
Deployment and Connectivity Repair of a Sensor Net with a Flying Robot.
Corke, Peter I.; Hrabar, Stefan; Peterson, Ronald A.; Rus, Daniela; Saripalli, Srikanth; Sukhatme, Gaurav S.: Deployment and Connectivity Repair of a Sensor Net with a Flying Robot. Jr., Marcelo H. Ang; Khatib, Oussama (Ed.): Experimental Robotics IX, The 9th International Symposium on Experimental Robotics [ISER 2004, Singapore, 18.-21. June 2004], pp. 333-343, Springer, 2004
Using a Sensor Network for Distributed Multi-robot Task Allocation.
Batalin, Maxim A.; Sukhatme, Gaurav S.: Using a Sensor Network for Distributed Multi-robot Task Allocation. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA, pp. 158-164, IEEE, 2004
A Generalized Region-based Approach for Multi-target Tracking in Outdoor Environments.
Jung, Boyoon; Sukhatme, Gaurav S.: A Generalized Region-based Approach for Multi-target Tracking in Outdoor Environments. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA, pp. 2189-2195, IEEE, 2004
A Multi-robot Approach to Stealthy Navigation in the Presence of an Observer.
Tews, Ashley; Sukhatme, Gaurav S.; Mataric, Maja J.: A Multi-robot Approach to Stealthy Navigation in the Presence of an Observer. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA, pp. 2379-2385, IEEE, 2004
Autonomous Deployment and Repair of a Sensor Network using an Unmanned Aerial Vehicle.
Corke, Peter I.; Hrabar, Stefan; Peterson, Ronald A.; Rus, Daniela; Saripalli, Srikanth; Sukhatme, Gaurav S.: Autonomous Deployment and Repair of a Sensor Network using an Unmanned Aerial Vehicle. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA, pp. 3602-3608, IEEE, 2004
Performance and Co-Presence in Heterogeneous Haptic Collaboration.
McLaughlin, Margaret; Sukhatme, Gaurav S.; Peng, Wei; Zhu, Weirong; Parks, Jacob: Performance and Co-Presence in Heterogeneous Haptic Collaboration. 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2003), 22-23 March 2003, Los Angeles, CA, USA, Proceedings, pp. 285, IEEE Computer Society, 2003
Sensor network-based multi-robot task allocation.
Batalin, Maxim A.; Sukhatme, Gaurav S.: Sensor network-based multi-robot task allocation. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27 - November 1, 2003, pp. 1939-1944, IEEE, 2003
Sensor network as a distributed manager for multi-robot task allocation.
Batalin, Maxim A.; Sukhatme, Gaurav S.: Sensor network as a distributed manager for multi-robot task allocation. Akyildiz, Ian F.; Estrin, Deborah; Culler, David E.; Srivastava, Mani B. (Ed.): Proceedings of the 1st International Conference on Embedded Networked Sensor Systems, SenSys 2003, Los Angeles, California, USA, November 5-7, 2003, pp. 320-321, ACM, 2003
Multi-Robot Task Allocation in Uncertain Environments.
Mataric, Maja J.; Sukhatme, Gaurav S.; ãstergaard, Esben Hallundbðk: Multi-Robot Task Allocation in Uncertain Environments. Auton. Robots, vol. 14, no. 2-3, pp. 255-263, 2003
