Prasanna Velagapudi

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The use of distributed POMDPs for cooperative teams has been severely limited by the incredibly large joint policy-space that results from combining the policy-spaces of the individual agents. However, much of the computational cost of exploring the entire joint policy space can be avoided by observing that in many domains important interactions between(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 miti-gation 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)
Camera guided teleoperation has long been the preferred mode for controlling remote robots, with other modes such as asynchronous control only used when unavoidable. In this experiment we evaluate the usefulness of asynchronous operation for a multirobot search task. Because controlling multiple robots places additional demands on the operator, removing the(More)
The present study investigates the effect of the number of controlled robots on performance of an urban search and rescue (USAR) task using a realistic simulation. Participants controlled either 4, 8, or 12 robots. In the fulltask control condition participants both dictated the robots' paths and controlled their cameras to search for victims. In the(More)
—A cooperative team's performance strongly depends on the view that the team has of the environment in which it operates. In a team with many autonomous vehicles and many sensors, there is a large volume of information available from which to create that view. However, typically communication bandwidth limitations prevent all sensor readings being shared(More)
— In this paper, we address the problem of distributed motion planning for large teams of hundreds of robots in constrained environments. We introduce two distributed prioritized planning algorithms: an efficient, complete method which is shown to converge to the centralized prioritized planner solution, and a sparse method in which robots discover(More)
OBJECTIVE The number of robots an operator can supervise increases with the robots' level of autonomy. The reported study investigates multirobot foraging to identify aspects of the task most suitable for automation. BACKGROUND Many envisioned applications of robotics involve multirobot teams. One of the simplest of these applications is foraging, in(More)
—We explore the combined planning of pregrasp manipulation and transport tasks. We formulate this problem as a simultaneous optimization of pregrasp and transport trajectories to minimize overall cost. Next, we reduce this simultaneous optimization problem to an optimization of the transport trajectory with start-point costs and demonstrate how to use(More)
—The human role in sophisticated information gathering systems is usually conceived to be that of the consumer. Human sensory and perceptual capabilities, however, outstrip our abilities to process information by a substantial amount. The use of human operators as " perceptual sensors " is standard practice for both UAVs and ground robotics where humans are(More)
— The present study investigates the effect of the number of controlled robots on performance of an urban search and rescue (USAR) task using a realistic simulation. Task performance increased in going from four to eight controlled robots but deteriorated in moving from eight to twelve. Workload increased monotonically with number of robots. Performance per(More)