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Tiago Stegun Vaquero

5 accepted papers

2025

Risk-Aware Integrated Task and Motion Planning for Versatile Snake Robots Under Localization Failures

Ashkan Jasour, Guglielmo Daddi, Masafumi Endo, Tiago Stegun Vaquero, Michael Paton, Marlin P. Strub +4
ICRA 2025

Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots remain an open challenge due to the proximity of the sensor payload to the ground coupled with a limited field of view.

Cited by 0Source ↗Scholar ↗
2022

ACHORD: Communication-Aware Multi-Robot Coordination With Intermittent Connectivity

Maira Saboia, Lillian Clark, Vivek Thangavelu, Jeffrey A. Edlund, Kyohei Otsu, Gustavo J. Correa +13
RA-L 2022

Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., subterranean) environments requires a multi-robot system to to

Cited by 35Source ↗Scholar ↗
2022

PropEM-L: Radio Propagation Environment Modeling and Learning for Communication-Aware Multi-Robot Exploration

Lillian Clark, Jeffrey Edlund, Marc Sanchez Net, Tiago Stegun Vaquero, Ali-akbar Agha-mohammadi
RSS 2022poster

Multi-robot exploration of complex, unknown environments benefits from the collaboration and cooperation offered by inter-robot communication. Accurate radio signal strength prediction enables communication-aware exploration. Models which ignore the effect of the environment on signal propagation or…

Cited by 18Source ↗PDF ↗Scholar ↗
2020

Robustness Computation of Dynamic Controllability in Probabilistic Temporal Networks with Ordinary Distributions

Michael Saint-Guillain, Tiago Stegun Vaquero, Jagriti Agrawal, Steve Chien
IJCAI 2020poster

Most existing works in Probabilistic Simple Temporal Networks (PSTNs) base their frameworks on well-defined probability distributions. This paper addresses on PSTN Dynamic Controllability (DC) robustness measure, i.e. the execution success probability of a network under dynamic control. We consider…

Cited by 0Source ↗PDF ↗Scholar ↗
2020

The Pluggable Distributed Resource Allocator (PDRA): a Middleware for Distributed Computing in Mobile Robotic Networks

Federico Rossi, Tiago Stegun Vaquero, Marc Sanchez-Net, Maíra Saboia da Silva, Joshua Vander Hook
IROS 2020poster

We present the Pluggable Distributed Resource Allocator (PDRA), a middleware for distributed computing in heterogeneous mobile robotic networks. PDRA enables autonomous robotic agents to share computational resources for computationally expensive tasks such as localization and path planning. It sits…

Cited by 6Source ↗code ↗Scholar ↗