相关论文: Memory-Efficient 2D/3D Shape Assembly of Robot Swa…

Distributed energy storage devices can be aggregated to provide operational flexibility for power systems. This requires representing a massive device population as a single, tractable surrogate that is computationally efficient and…

This work details a scalable framework to orchestrate a swarm of rotary-wing UAVs serving as cellular relays to facilitate beyond line-of-sight connectivity and traffic offloading for ground users. First, a Multiscale Adaptive…

We propose a novel technique for producing high-quality 3D models that match a given target object image or scan. Our method is based on retrieving an existing shape from a database of 3D models and then deforming its parts to match the…

The use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and…

MeanShift is a popular mode-seeking clustering algorithm used in a wide range of applications in machine learning. However, it is known to be prohibitively slow, with quadratic runtime per iteration. We propose MeanShift++, an extremely…

Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…

Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…

This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…

Recent work from the reinforcement learning community has shown that Evolution Strategies are a fast and scalable alternative to other reinforcement learning methods. In this paper we show that Evolution Strategies are a special case of…

We develop a metalearning approach for learning hierarchically structured policies, improving sample efficiency on unseen tasks through the use of shared primitives---policies that are executed for large numbers of timesteps. Specifically,…

Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…

Morphological computing, the use of the physical design of a robot to ease the realization of a given task has been proven to be a relevant concept in the context of swarm robotics. Here we demonstrate both experimentally and numerically,…

Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…

Swarm robotic search is concerned with searching targets in unknown environments (e.g., for search and rescue or hazard localization), using a large number of collaborating simple mobile robots. In such applications, decentralized swarm…

As deep learning models continue to increase in size, the memory requirements for training have surged. While high-level techniques like offloading, recomputation, and compression can alleviate memory pressure, they also introduce…

We present a number of powerful local mechanisms for maintaining a dynamic swarm of robots with limited capabilities and information, in the presence of external forces and permanent node failures. We propose a set of local continuous…

We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot…

Data collection in robotics is spread across diverse hardware, and this variation will increase as new hardware is developed. Effective use of this growing body of data requires methods capable of learning from diverse robot embodiments. We…

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…

We propose a novel 3D shape correspondence method based on the iterative alignment of so-called smooth shells. Smooth shells define a series of coarse-to-fine shape approximations designed to work well with multiscale algorithms. The main…