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As high-speed, agile robots become more commonplace, these robots will have the potential to better aid and collaborate with humans. However, due to the increased agility and functionality of these robots, close collaboration with humans…
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite extensive work on cooperative control and coordinated…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
This paper presents a research platform that supports spoken dialogue interaction with multiple robots. The demonstration showcases our crafted MultiBot testing scenario in which users can verbally issue search, navigate, and follow…
Simulating hostile attacks of physical autonomous systems can be a useful tool to examine their robustness to attack and inform vulnerability-aware design. In this work, we examine this through the lens of multi-robot patrol, by presenting…
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…
In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agents. Previous studies have assumed that robots can form and/or…
How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams of robots in complex tasks. In this paper, we focus on a key…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
The problem of target tracking with multiple robots consists of actively planning the motion of the robots to track the targets. A major challenge for practical deployments is to make the robots resilient to failures. In particular, robots…
This paper proposes a novel data-driven control strategy for maintaining connectivity in networked multi-robot systems. Existing approaches often rely on a pre-determined communication model specifying whether pairwise robots can…
Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…
Human-Robot Interaction, in which a robot with some level of autonomy interacts with a human to achieve a specific goal has seen much recent progress. With the introduction of autonomous robots and the possibility of widespread use of those…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
Robots operating in real world settings must navigate and maintain safety while interacting with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions (CBF) have emerged as a computationally efficient tool to…
We introduce a novel capabilities-based bi-directional multi-task trust model that can be used for trust prediction from either a human or a robotic trustor agent. Tasks are represented in terms of their capability requirements, while…
In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
In socially assistive robotics, an important research area is the development of adaptation techniques and their effect on human-robot interaction. We present a meta-learning based policy gradient method for addressing the problem of…