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Publications

Below is a list of publications for the Multi-Robot Systems Lab. Last updated: November 2017.

Export 63 results:
Author Title Type [ Year(Asc)]
Under Review
Wang, Z., R. Spica, and M. Schwager, "Game Theoretic Motion Planning for Multi-Robot Racing", Proc. of the International Symposium on Distributed Autonomous Robotics Systems (DARS), 2018, Under Review.
Nishimura, H., and M. Schwager, "SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control", The 13th International Workshop on the Algorithmic Foundations of Robotics (WAFR), Mérida, México, 2018, Under Review.
Accepted
Haksar, R. N., and M. Schwager, "Controlling Large, Graph-based MDPs with Global Control Capacity Constraints: An Approximate LP Solution", Proc. of the IEEE Conference on Decision and Control (CDC), 2018, Accepted.
Haksar, R. N., and M. Schwager, "Distributed Deep Reinforcement Learning for Fighting Forest Fires with a Network of Aerial Robots", Proc. of the International Conference on Intelligent Robots and Systems (IROS), 2018, Accepted.
Spica, R., D. Falanga, E. Cristofalo, E. Montijano, D. Scaramuzza, and M. Schwager, "A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing", Robotics: Science and Systems, Pittsburgh, PA-USA, 06/2018, Accepted.
Caccavale, A., and M. Schwager, "Wireframe Mapping for Resource-Constrained Robots", Proc. of the International Conference on Intelligent Robots and Systems (IROS), 2018, Accepted.
2018
Nishimura, H., and M. Schwager, "Active Motion-Based Communication for Robots with Monocular Vision", 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, pp. 2948-2955, 2018.  (3.19 MB)
Pierson, A., and M. Schwager, "Controlling Non-Cooperative Herds with Robotic Herders", IEEE Transactions on Robotics, vol. 34, issue 2, pp. 517-525, 2018.
Wang, Z., S. Singh, M. Pavone, and M. Schwager, "Cooperative object transport in 3D with multiple quadrotors using no peer communication", International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018.  (4.21 MB)
Culbertson, P., and M. Schwager, "Decentralized Adaptive Control for Multi-Robot Manipulation", International Conference on Robotics and Automation, Brisbane, Australia, IEEE, 2018.  (1.62 MB)
Wang, M., Z. Wang, S. Paudel, and M. Schwager, "Safe Distributed Lane Change Maneuvers for Multiple Autonomous Vehicles Using Buffered Input Cells", International Conference on Robotics and Automation (ICRA), 2018.  (1.09 MB)
2017
Pierson, A., L. Figueiredo, L. Pimenta, and M. Schwager, "Adapting to Sensing and Actuation Variations in Multi-Robot Coverage", International Journal of Robotics Research, vol. 36, issue 3, pp. 337-354, 2017.
Caccavale, A., and M. Schwager, "A Distributed Algorithm for Mapping the Graphical Structure of Complex Environments with a Swarm of Robots", IEEE International Conference on Robotics and Automation (ICRA), pp. 1459-1466, 2017.  (568.62 KB)
Halsted, T., and M. Schwager, "Distributed Multi-Robot Localization from Acoustic Pulses Using Euclidean Distance Geometry", International Symposium on Multi-Robot and Multi-Agent Systems (MRS), Los Angeles, CA, pp. 104-111, December, 2017.  (4.55 MB)
Zhou, D., Z. Wang, S. Bandyopadhyay, and M. Schwager, "Fast, On-line Collision Avoidance for Dynamic Vehicles using Buffered Voronoi Cells", IEEE Robotics and Automation Letters (RA-L), vol. 2, issue 2, pp. 1047 - 1054, 2017.  (4.47 MB)
Pierson, A., Z. Wang, and M. Schwager, "Intercepting Rogue Robots: An Algorithm for Capturing Multiple Pursuers with Multiple Evaders", IEEE Robotics and Automation Letters (RA-L), vol. 2, issue 2, pp. 530 - 537, 2017.  (3.73 MB)
Lan, X., and M. Schwager, "Learning a Dynamical System Model for a Spatiotemporal Field Using a Mobile Sensing Robot", American Control Conference (ACC), pp. 170-175, 2017.  (358.36 KB)
Usevitch, N., Z. Hammond, S. Follmer, and M. Schwager, "Linear Actuator Robots: Differential Kinematics, Controllability, and Algorithms for Locomotion and Shape Morphing", Proc. of the International Conference on Intelligent Robots and Systems (IROS), pp. 5361-5367, 2017.  (821.29 KB)
Vasile, C., M. Schwager, and C. Belta, "Translational and Rotational Invariance in Networked Dynamical Systems", IEEE Transactions on Control of Network Systems, 2017.  (1.37 MB)
2016
Dames, P., M. Schwager, D. Rus, and V. Kumar, "Active Magnetic Anomaly Detection using Multiple Micro Aerial Vehicles", IEEE Robotics and Automation Letters (RA-L), vol. 1, no. 1, pp. 153-160, 2016.  (4.64 MB)
Leahy, K., and M. Schwager, "Always Choose Second Best: Tracking a Moving Target on a Graph with a Noisy Binary Sensor", Proc. of the European Control Conference (ECC 16), Aalborg, Denmark, June, 2016.  (239.92 KB)
Zhou, D., and M. Schwager, "Assistive Collision Avoidance for Quadrotor Swarm Teleoperation", Proc. of the IEEE International Conference on Robotics and Automation (ICRA 16), Stockholm, Sweden, pp. 1249–1254, May, 2016.  (1.95 MB)
Vasile, C-I., K. Leahy, E. Cristofalo, A. Jones, M. Schwager, and C. Belta, "Control in Belief Space with Temporal Logic Specifications", Proc. of the IEEE Conference on Decision and Control (CDC), Las Vegas, NV, pp. 7419-7424, 2016.  (1.19 MB)
Pierson, A., A. Ataei, I. C. Paschalidis, and M. Schwager, "Cooperative Multi-Quadrotor Pursuit of an Evader in an Environment with No-Fly Zones", Proc. of the IEEE International Conference on Robotics and Automation (ICRA 16), Stockholm, Sweden, pp. 320–326, May, 2016.  (1.78 MB)
Yu, J., M. Schwager, and D. Rus, "The Correlated Orienteering Problem and its Application to Persistent Monitoring Tasks", IEEE Transactions on Robotics (T-RO), vol. 32, issue 5, pp. 1106 - 1118, 2016.  (1.68 MB)
Montijano, E., E. Cristofalo, M. Schwager, and C. Sagues, "Distributed Formation Control of Non-Holonomic Robots without a Global Reference Frame", Proc. of the IEEE International Conference on Robotics and Automation (ICRA 16), Stockholm, Sweden, pp. 5248–5254, May, 2016.  (1.89 MB)
Alonso-Mora, J., E. Montijano, M. Schwager, and D. Rus, "Distributed Multi-Robot Navigation in Formation among Obstacles: A Geometric and Optimization Approach with Consensus", Proc. of the IEEE International Conference on Robotics and Automation (ICRA 16), Stockholm, Sweden, pp. 5356–5363, May, 2016.  (1.54 MB)
Allen, R., M. Pavone, and M. Schwager, "Flying Smartphones: When Portable Computing Sprouts Wings", IEEE Pervasive Computing, vol. 15, no. 3: IEEE, pp. 83–88, 2016.  (2.62 MB)
Wang, Z., and M. Schwager, "Force-Amplifying N-Robot Transport System (Force-ANTS) for Cooperative Planar Manipulation without Communication", International Journal of Robotics Research, vol. 35, issue 13, pp. 1564-1586 , 2016.  (6.44 MB)
Wang, Z., and M. Schwager, "Kinematic Multi-Robot Manipulation with no Communication Using Force Feedback", Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, pp. 427–432, May, 2016.  (5.1 MB)
Cristofalo, E., K. Leahy, C-I. Vasile, E. Montijano, M. Schwager, and C. Belta, "Localization of a Ground Robot by Aerial Robots for GPS-deprived Control with Temporal Logic Constraints", Proceedings of the International Symposium on Experimental Robotics (ISER 16), Tokyo, Japan, Springer, 2016.  (8.67 MB)
Ding, H., E. Cristofalo, J. Wang, D. Castañon, E. Montijano, V. Saligrama, and M. Schwager, "A Multi-Resolution Approach for Discovery and 3D Modeling of Archaeological Sites Using Satellite Imagery and a UAV-borne Camera", Proc. of the American Control Conference (ACC 16), Boston, MA, pp. 1359–1365, July, 2016.  (1.48 MB)
Wang, Z., G. Yang, X. Su, and M. Schwager, "OuijaBots: Omnidirectional Robots for Cooperative Object Transport with Rotation Control using No Communication", Proc. of the International Symposium on Distributed Autonomous Robotics Systems (DARS), 2016.  (4.19 MB)
Leahy, K., D. Zhou, C-I. Vasile, K. Oikonomopoulos, M. Schwager, and C. Belta, "Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging and Temporal Logic Constraints", Autonomous Robots, vol. 40, pp. 1363-1378, 2016.  (2.56 MB)
Aksaray, D., A. Jones, Z. Kong, M. Schwager, and C. Belta, "Q-Learning for Robust Satisfaction of Signal Temporal Logic Specifications", Proc. of the IEEE Conference on Decision and Control (CDC), Las Vegas, NV, pp. 6565-6570, 2016.  (269.77 KB)
Lan, X., and M. Schwager, "Rapidly-exploring Random Cycles: Persistent Estimation of Spatio-temoral Fields with Multiple Sensing Robots", IEEE Transactions on Robotics (T-RO), vol. 32, issue 5, pp. 1230 - 1244, 2016.  (3.81 MB)
Montijano, E., E. Cristofalo, D. Zhou, M. Schwager, and C. Sagues, "Vision-based Distributed Formation Control without an External Positioning System", IEEE Transactions on Robotics, vol. 32, no. 2, pp. 339-351, 2016.  (3.63 MB)
2015
Pierson, A., L. C. Figueiredo, L. C. A. Pimenta, and M. Schwager, "Adapting to Performance Variations in Multi-Robot Coverage", Proc. of the International Conference on Robotics and Automation (ICRA 15), Seattle, WA, pp. 415–420, May, 2015.  (1.49 MB)
Pierson, A., and M. Schwager, "Bio-Inspired Non-Cooperative Multi-Robot Herding", Proc. of the International Conference on Robotics and Automation (ICRA 15), Seattle, WA, pp. 1843–1849, May, 2015.  (2.22 MB)
Leahy, K., A. Jones, M. Schwager, and C. Belta, "Distributed Informative Path Planning under Temporal Logic Constraints", Proc. of the IEEE Conference on Decision and Control (CDC 15), Osaka, Japan, pp. 6803–6808, Dec, 2015.  (450.26 KB)
Jones, A., M. Schwager, and C. Belta, "Information-guided persistent monitoring under temporal logic constraints", Proc. of the American Control Conference (ACC 15), Chicago, IL, pp. 1911–1916, July, 2015.  (1.3 MB)
Wang, Z., and M. Schwager, "Multi-Robot Manipulation with no Communication Using Only Local Measurements", Proc. of the IEEE Conference on Decision and Control (CDC), Osaka, Japan, pp. 380–385, Dec, 2015.  (2.38 MB)
Habibi, G., Z. Kingston, Z. Wang, J. McLurkin, and M. Schwager, "Pipelined Consensus for Global State Estimation in Multi-Agent Systems", International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS 15), Istanbul, Turkey, pp. 1315–1323, May, 2015.  (622.66 KB)
Schwager, M., M. P. Vitus, S. Powers, D. Rus, and C. J. Tomlin, "Robust Adaptive Coverage Control for Robotic Sensor Networks", IEEE Transactions on Control of Network Systems, 2015.  (2.52 MB)
Vasile, C-I., M. Schwager, and C. Belta, "SE(N) Invariance in Networked Systems", Proc. of the European Control Conference (ECC 15), Linz, Austria, pp. 186–191, July, 2015.  (339.36 KB)
Zhou, D., and M. Schwager, "Virtual Rigid Bodies for Coordinated Agile Maneuvering of Teams of Micro Aerial Vehicles", Proc. of the International Conference on Robotics and Automation (ICRA 15), Seattle, WA, pp. 1737–1742, May, 2015.  (3.77 MB)
2014
Yu, J., M. Schwager, and D. Rus, "Correlated Orienteering Problem and its Application to Informative Path Planning for Persistent Monitoring Tasks", Proc. of the International Conference on Intelligent Robots and Systems (IROS 14), Chicago, IL, pp. 342–349, September, 2014.  (1.68 MB)
Soltero, D. E., M. Schwager, and D. Rus, "Decentralized path planning for coverage tasks using gradient descent adaptive control", International Journal of Robotics Research (IJRR), vol. 33, no. 3, pp. 401–425, March, 2014.  (6.99 MB)
Montijano, E., D. Zhou, M. Schwager, and C. Sagues, "Distributed Formation Control without a Global Reference Frame", Proc. of the American Control Conference (ACC 14), Portland, OR, pp. 3862–3867, June, 2014.  (1.5 MB)
Wang, Z., and M. Schwager, "Multi-Robot Manipulation without Communication", Proc. of the International Symposium on Distributed Robotic Systems (DARS), Daejeon, South Korea, pp. 43–56, November, 2014.  (2.02 MB)
Dames, P., D. Thakur, M. Schwager, and V. Kumar, "Playing Fetch with Your Robot", IEEE Robotics and Automation Magazine, vol. 21, no. 2, pp. 46–52, June, 2014.  (1.9 MB)
Leahy, K., D. Zhou, C-I. Vasile, K. Oikonomopoulos, M. Schwager, and C. Belta, "Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints", Proc. of the International Symposium on Experimental Robotics (ISER 14), Marrakech, Morocco, June, 2014.  (5.17 MB)
Lan, X., and M. Schwager, "A Variational Approach to Trajectory Planning for Persistent Monitoring of Spatiotemporal Fields", Proc. of the American Control Conference (ACC 14), Portland, OR, pp. 5627–5632, June, 2014.  (1.73 MB)
Zhou, D., and M. Schwager, "Vector Field Following for Quadrotors using Differential Flatness", Proc. of the International Conference on Robotics and Automation (ICRA 14), Hong Kong, PRC, pp. 6567-6572, June, 2014.  (4.73 MB)
2013
Pierson, A., and M. Schwager, "Adaptive Inter-Robot Trust for Robust Multi-Robot Sensor Coverage", Proc. of the International Symposium of Robotics Research (ISRR 13), Singapore, December, 2013.  (600.81 KB)
Jones, A., M. Schwager, and C. Belta, "Distribution Temporal Logic: Combining Correctness with Quality of Estimation", Proc. of the IEEE Conference on Decision and Control (CDC 13), Florence, Italy, pp. 4719–4724, December, 2013.  (1.54 MB)
Lan, X., and M. Schwager, "Planning Periodic Persistent Monitoring Trajectories for Sensing Robots in Gaussian Random Fields", Proc. of the IEEE International Conference on Robotics and Automation (ICRA 13), Karlsruhe, Germany, pp. 2407–2412, May, 2013.  (830.08 KB)
Smith, S. L., M. Pavone, M. Schwager, E. Frazzoli, and D. Rus, "Rebalancing the Rebalancers: Optimally Routing Vehicles and Drivers in Mobility-on-Demand Systems", Proc. of the American Control Conference (ACC 13), Washington, DC, pp. 2362–2367, June, 2013.  (1.76 MB)
Jones, A., M. Schwager, and C. Belta, "A Receding Horizon Algorithm for Informative Path Planning with Temporal Logic Constraints", Proc. of the IEEE International Conference on Robotics and Automation (ICRA 13), Karlsruhe, Germany, pp. 5004–5009, May, 2013.  (479.05 KB)
2012
Dames, P., M. Schwager, V. Kumar, and D. Rus, "A Decentralized Control Policy for Adaptive Information Gathering in Hazardous Environments", Proc. of the IEEE International Conference on Decision and Control (CDC 12), Maui, HI, pp. 2807–2813, December, 2012.  (1.62 MB)
Julian, B. J., M. Angermann, M. Schwager, and D. Rus, "Distributed Robotic Sensor Networks: An Information-Theoretic Approach", International Journal of Robotics Research, vol. 31, no. 10, pp. 1134–1154, September, 2012.
Soltero, D. E., M. Schwager, and D. Rus, "Generating Informative Paths for Persistent Sensing in Unknown Environments", Proc. of the International Conference on Intelligent Robots and Systems (IROS 12), Algarve, Portugal, pp. 2172–2179, October, 2012.  (2.88 MB)
Smith, S. L., M. Schwager, and D. Rus, "Persistent Robotic Tasks: Monitoring and Sweeping in Changing Environments", IEEE Transactions on Robotics, vol. 28, no. 2, pp. 410–426, April, 2012.  (2.98 MB)