I’m interested in learning representations of multi-robot systems in order to understand their structure, allow effective control by humans, and enable collaborative perception. Check out my work or resume and get in touch.
Game Theoretic Decentralized and Communication-Free Multi-Robot Navigation submitted to ICRA 2021: Multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate completely decentralized, with individual robot team members being capable of acting without explicit communication between neighbors. We propose a novel game theoretic model that enables decentralized and communication-free navigation to a goal position. Robots estimate the behavior of their neighboring teammates in order to identify behaviors that move them in the direction of the goal, while also avoiding obstacles and maintaining team cohesion without collisions.
Leading Multi-Agent Teams to Multiple Goals While Maintaining Communication accepted to RSS 2020: Effective multi-agent teaming requires knowledgeable robots to have the capability of influencing their teammates. Robots are able to possess information that their human and other agent teammates do not, such as by scouting ahead in dangerous areas. To work as an effective team, robots must be able to influence their teammates when necessary and adapt to changing situations in order to move to goal positions that only they may be aware of, while remaining connected as a team. [see more]