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01/13/2023
A Constrained-Optimization Approach to the Execution of Prioritized Stacks of Learned Multi-Robot Tasks
This paper presents a constrained-optimization formulation for the prior...
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06/15/2022
What Can Robots Teach Us About The COVID-19 Pandemic? Interactive Demonstrations of Epidemiological Models Using a Swarm of Brushbots
This paper describes the methodology and outcomes of a series of educati...
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06/15/2022
Resilience and Energy-Awareness in Constraint-Driven-Controlled Multi-Robot Systems
In the context of constraint-driven control of multi-robot systems, in t...
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06/11/2021
Safety of Dynamical Systems with Multiple Non-Convex Unsafe Sets Using Control Barrier Functions
This paper presents an approach to deal with safety of dynamical systems...
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05/12/2021
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems
In the context of heterogeneous multi-robot teams deployed for executing...
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04/15/2021
Data-Driven Robust Barrier Functions for Safe, Long-Term Operation
Applications that require multi-robot systems to operate independently f...
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02/17/2021
A Safety and Passivity Filter for Robot Teleoperation Systems
In this paper, we present a way of enforcing safety and passivity proper...
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11/02/2020
Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions
Multi-robot task allocation is a ubiquitous problem in robotics due to i...
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03/06/2020
Adaptive Task Allocation for Heterogeneous Multi-Robot Teams with Evolving and Unknown Robot Capabilities
For multi-robot teams with heterogeneous capabilities, typical task allo...
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03/06/2020
A Set-Theoretic Approach to Multi-Task Execution and Prioritization
Executing multiple tasks concurrently is important in many robotic appli...
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03/20/2019
An Optimal Task Allocation Strategy for Heterogeneous Multi-Robot Systems
For a team of heterogeneous robots executing multiple tasks, we propose ...
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03/14/2019
Persistification of Robotic Tasks
In this paper we propose a control framework that enables robots to exec...
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02/27/2019
A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot
In this paper we present a theoretical study of a specific class of vibr...
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02/27/2019
Non-Uniform Robot Densities in Vibration Driven Swarms Using Phase Separation Theory
In robot swarms operating under highly restrictive sensing and communica...
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02/27/2019
Achieving Non-Uniform Densities in Vibration Driven Robot Swarms Using Phase Separation Theory
In robot swarms operating with severely constrained sensing and communic...
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11/04/2018
Constraint-Driven Coordinated Control of Multi-Robot Systems
In this paper we present a reformulation--framed as a constrained optimi...
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02/24/2018
Coverage Control for Wire-Traversing Robots
In this paper we consider the coverage control problem for a team of wir...
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01/29/2018
