Vivek Thangavelu — accepted AI-conference papers

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

Autonomous Modification of Unstructured Environments with Found Material

Vivek Thangavelu, Maíra Saboia da Silva, Jiwon Choi, Nils Napp

ICRA 2020poster

The ability to autonomously modify their environment dramatically increases the capability of robots to operate in unstructured environments. We develop a specialized construction algorithm and robotic system that can autonomously build motion support structures with previously unseen objects. The a…

Cited by 8 Source ↗Scholar ↗

2019

Approximate Stability Analysis for Drystacked Structures

Yifang Liu, Maira Saboia, Vivek Thangavelu, Nils Napp

ICRA 2019poster

We introduce a fast approximate stability analysis into an automated dry stacking procedure. Evaluating structural stability is essential for any type of construction, but especially challenging in techniques where building elements remain distinct and do not use fasteners or adhesives. Due to the i…

Cited by 9 Source ↗Scholar ↗

2018

Autonomous Adaptive Modification of Unstructured Environments

Maira Saboia da Silva, Vivek Thangavelu, Walker Gosrich, Nils Napp

RSS 2018poster

We present and validate a property-driven autonomous system that modifies its environment to achieve and maintain navigability over a highly irregular 3-dimensional terrain. In our approach we use decision procedures that tie building actions to the terrain model, giving rise to adaptive and robust…

Cited by 27 Source ↗PDF ↗Scholar ↗

2018

Dry Stacking for Automated Construction with Irregular Objects

Vivek Thangavelu, Yifang Liu, Maira Saboia, Nils Napp

ICRA 2018poster

We describe a method for automatically building structures from stacked, irregularly shaped objects. This is a simplified model for the problem of building dry stacked structures (i.e. no mortar) from found stones. Although automating such construction methods would be ideally suited for disaster ar…

Cited by 42 Source ↗Scholar ↗