Balajee Kannan

Learn More
In this paper, we outline a low cost multi-robot autonomous platform for a broad set of applications including water quality monitoring, flood disaster mitigation and depth buoy verification. By working cooperatively, fleets of vessels can cover large areas that would otherwise be impractical, time consuming and prohibitively expensive to traverse by a(More)
In this paper, we present an approach to bounded optimal planning and flexible execution for a robot team performing a set of spatially distributed tasks related by temporal ordering constraints such as precedence or synchronization. Furthermore, the manner in which the temporal constraints are satisfied impacts the overall utility of the team, due to the(More)
This technical report outlines a system for robust indoor localization on a commercial smart-phone. Towards achieving effective localization, in the absence of GPS, we combine complementary localization algorithms of dead reckoning and Wifi signal strength fingerprinting. Dead reckoning is performed using the on-board accelerometer, magnetometer, and(More)
The vision of humans and robots working together as peers to accomplish complex tasks has motivated many recent research endeavors with a variety of applications ranging from lunar construction to soccer. However, much of this research is still at an early stage, and many challenges still remain in realizing this vision. A key requirement for enabling(More)
This paper addresses the problem of using a fleet of autonomous watercraft to create models of various water quality parameters in complex environments using intelligent sampling algorithms. Maps depicting the spatial variation of these parameters can help researchers understand how certain ecological processes work and in turn help reduce the negative(More)
In this report, we present an approach to optimal planning and flexible execution for a set of spatially distributed tasks related by temporal ordering constraints such as precedence, synchronization, or non-overlapping constraints. We integrate an optimal planner for task allocation and scheduling with cross-schedule dependencies with a flexible,(More)
This paper presents an approach for deploying a team of mobile sensor nodes to form a sensor network in indoor environments. The challenge in this work is that the mobile sensor nodes have no ability for localization or obstacle avoidance. Thus, our approach entails the use of more capable “helper” robots that “herd” the mobile sensor nodes into their(More)
This paper presents the design and results of autonomous behaviors for tightly-coupled cooperation in heterogeneous robot teams, specifically for the task of navigation assistance. These cooperative behaviors enable capable, sensor rich ("leader") robots to assist in the navigation of sensor-limited ("simple") robots that have no onboard capabilities for(More)
This paper presents an adaptive causal model method (adaptive CMM) for fault diagnosis and recovery in complex multi-robot teams. We claim that a causal model approach is effective for anticipating and recovering from many types of robot team errors, presenting extensive experimental results to support this claim. To our knowledge, these results show the(More)
The failure-prone complex operating environment of a standard multi-robot application dictates some amount of fault-tolerance to be incorporated into the system. Being able to identify the extent of fault-tolerance in a system would be a useful analysis tool for the designer. Unfortunately, it is difficult to quantify system fault-tolerance on its own. A(More)