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Akshaya Kesarimangalam Srinivasan

4 accepted papers

2024

Hierarchical Planning for Long-Horizon Multi-Agent Collective Construction

Shambhavi Singh, Zejian Huang, Akshaya Kesarimangalam Srinivasan, Geordan Gutow, Bhaskar Vundurthy, Howie Choset
ICRA 2024poster

We develop a planner that directs robots to construct a 3D target structure composed of blocks. The robots themselves are cubes of the same size as the blocks, and they may place, carry, or remove one block at a time. When moving, robots are also allowed to climb or descend a block. A construction p…

Cited by 1Source ↗Scholar ↗
2023

Multi-Agent Collective Construction Using 3D Decomposition

Akshaya Kesarimangalam Srinivasan, Shambhavi Singh, Geordan Gutow, Howie Choset, Bhaskar Vundurthy
IROS 2023poster

Consider a Multi-Agent Collective Construction (MACC) problem that aims to generate a plan for fictitious cubic robots to build a three-dimensional structure comprised of cubic blocks. These cubic robots can carry one cubic block at a time; robots may move left, right, forwards, backward, or climb u…

Cited by 5Source ↗Scholar ↗
2023

Multi-Agent Multi-Objective Ergodic Search Using Branch and Bound

Akshaya Kesarimangalam Srinivasan, Geordan Gutow, Zhongqiang Ren, Ian Abraham, Bhaskar Vundurthy, Howie Choset
IROS 2023poster

Search and rescue applications often need multiple agents to complete a set of conflicting tasks. This paper studies a Multi-Agent Multi-Objective Ergodic Search (MA-MO-ES) approach to this problem where each objective or task is to cover a domain subject to an information map. The goal is to alloca…

Cited by 3Source ↗Scholar ↗
2022

A Local Optimization Framework for Multi-Objective Ergodic Search

Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Howard Coffin, Ian Abraham, Howie Choset
RSS 2022poster

Robots have the potential to perform search for a variety of applications under different scenarios. Our work is motivated by humanitarian assistant and disaster relief (HADR) where often it is critical to find signs of life in the presence of conflicting criteria, objectives, and information. We be…

Cited by 8Source ↗PDF ↗code ↗Scholar ↗