Vivek Shankar Varadharajan — accepted AI-conference papers

2026

Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned (I)

Pierre-Yves Lajoie, Karthik Soma, Haechan Mark Bong, Alice Lemieux-Bourque, Rongge Zhang, Vivek shankar Varadharajan +1

ICRA 2026poster

Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communication infrastructure. This technology is anticipated to play a key role in the exploration of the Moon…

Cited by 0 Scholar ↗

2025

A Multi-Robot Exploration Planner for Space Applications

Vivek Shankar Varadharajan, Giovanni Beltrame

RA-L 2025

We propose a distributed multi-robot exploration planning method designed for complex, unconstrained environments featuring steep elevation changes. The method employs a two-tiered approach: a local exploration planner that constructs a grid graph to maximize exploration gain and a global planner th

Cited by 8 Source ↗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 35 Source ↗Scholar ↗

2020

Swarm Relays: Distributed Self-Healing Ground-and-Air Connectivity Chains

Vivek Shankar Varadharajan, David St-Onge, Bram Adams, Giovanni Beltrame

RA-L 2020

The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments where robot motion, unstructured environments, limited computational

Cited by 36 Source ↗Scholar ↗