16 accepted papers
We consider the problem of adaptively controlling a fleet of robots to maintain a communication network in an adversarial environment. In particular, a network team of robots is tasked with maintaining a directed communication channel at some data rate from an independent task robot to a fixed base …
Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion during the decision-to-execution delay. However, most next-best-view (NBV) planners assume static objects, while motion-aware active perception for moving targets typically priorit…
In this paper, we focus on the autonomous multiagent taxi routing problem for a large urban environment where the location and number of future ride requests are unknown a-priori, but can be estimated by an empirical distribution. Recent theory has shown that a rollout algorithm with a stable base p…
This paper presents MULAN-WC, a novel multi-robot 3D reconstruction framework that leverages wireless signal-based coordination between robots and Neural Radiance Fields (NeRF). Our approach addresses key challenges in multi-robot 3D reconstruction, including inter-robot pose estimation, localizatio…
We develop a resilient binary hypothesis testing frame-work for decision making in adversarial multi-robot crowdsensing tasks. This framework exploits stochastic trust observations between robots to arrive at tractable, resilient decision making at a centralized Fusion Center (FC) even when i) there…
We derive a learning framework to generate routing/pickup policies for a fleet of autonomous vehicles tasked with servicing stochastically appearing requests on a city map. We focus on policies that 1) give rise to coordination amongst the vehicles, thereby reducing wait times for servicing requests…
In this paper we propose a novel algorithm, Wi-Closure, to improve the computational efficiency and robustness of loop closure detection in multi-robot SLAM. Our approach decreases the computational overhead of classical approaches by pruning the search space of potential loop closures, prior to eva…
In this paper we present a control barrier function-based (CBF) resilience controller that provides resilience in a multi-robot network to adversaries. Previous approaches provide resilience by virtue of specific linear combinations of multiple control constraints. These combinations can be difficul…
We study how information flows through a multi-robot network in order to better understand how to provide resilience to malicious information. While the notion of global resilience is well studied, one way existing methods provide global resilience is by bringing robots closer together to improve th…
This paper presents the WiFi-Sensor-for-Robotics (WSR) open-source toolbox111Code: https://github.com/Harvard-REACT/WSR-Toolbox Dataset: https://github.com/Harvard-REACT/WSR-Toolbox-Dataset Demo: https://github.com/Harvard-REACT/WSR-Toolbox/wiki/Demo. It enables robots in a team to obtain relative b…
In this paper we consider infinite horizon discounted dynamic programming problems with finite state and control spaces, partial state observations, and a multiagent structure. We discuss and compare algorithms that simultaneously or sequentially optimize the agents’ controls by using multistep look
In this letter we consider infinite horizon discounted dynamic programming problems with finite state and control spaces, and partial state observations. We discuss an algorithm that uses multistep lookahead, truncated rollout with a known base policy, and a terminal cost function approximation. Thi
Securing multi-robot teams against malicious activity is crucial as these systems accelerate towards widespread societal integration. This emerging class of “physical networks” requires research into new methods of security that exploit their physical nature. This paper derives a theoretical framewo…
Control of robots in safety-critical tasks and situations where costly errors may occur is paramount for realizing the vision of pervasive human-robot collaborations. For these cases, the ability to use human cognition in the loop can be key for recuperating safe robot operation. This paper combin…
Communication with a robot using brain activity from a human collaborator could provide a direct and fast feedback loop that is easy and natural for the human, thereby enabling a wide variety of intuitive interaction tasks. This paper explores the application of EEG-measured error-related potentials…
Multi-robot networks use wireless communication to provide wide-ranging services such as aerial surveillance and unmanned delivery. However, effective coordination between multiple robots requires trust, making them particularly vulnerable to cyber-attacks. Specifically, such networks can be gravely…