Sasanka Nagavalli

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Robotic swarms are distributed systems whose members interact via local control laws to achieve different behaviors. Practical missions may require a combination of different swarm behaviors, where these behavioral combinations are not known a priori but could arise dynamically due to changes in mission goals. Therefore, human interaction with the swarm(More)
Robotic swarms are distributed systems whose members interact via local control laws to achieve a variety of behaviors, such as flocking. In many practical applications, human operators may need to change the current behavior of a swarm from the goal that the swarm was going towards into a new goal due to dynamic changes in mission objectives. There are two(More)
This paper presents asynchronous distributed algorithms for information leader selection in multi-robot systems based on local communication between each robot and its direct neighbours in the system's communication graph. In particular, the information leaders refer to a small subset of robots that are near the boundary of the swarm and suffice to(More)
In this paper, we present both centralized and distributed algorithms for aligning coordinate frames in multi-robot systems based on inter-robot relative position measurements. Robot orientations are not measured, but are computed by our algorithms. Our algorithms are robust to measurement error and are useful in applications where a group of robots need to(More)
In many multi-robot applications such as target search, environmental monitoring and reconnaissance, the multi-robot system operates semi-autonomously, but under the supervision of a remote human who monitors task progress. In these applications, each robot collects a large amount of task-specific data that must be sent to the human periodically to keep the(More)
Robotic swarms are distributed systems that exhibit global behaviors arising from local interactions between individual robots. Each robot can be programmed with several local control laws that can be activated depending on an operator's choice of global swarm behavior. While some simple behaviors (e.g. rendezvous) with guaranteed performance on known(More)
In many multi-robot applications such as target search, environmental monitoring and reconnaissance, the multi-robot system operates semi-autonomously, but under the supervision of a remote human who monitors task progress. In these applications, each robot collects a large amount of task-specific data that must be sent to the human periodically to keep the(More)
—The theory and design of effective interfaces for human interaction with multi-robot systems has recently gained significant interest. Robotic swarms are multi-robot systems where local interactions between robots and neighbors within their spatial neighborhood generate emergent collective behaviors. Most prior work has studied interfaces for human(More)
—In many scenarios involving human interaction with a remote swarm, the human operator needs to be periodically updated with state information from the robotic swarm. A complete representation of swarm state is high dimensional and perceptually inaccessible to the human. Thus, a summary representation is often required. In addition, it is often the case(More)
We consider the general problem of moving a large number of networked robots toward a goal position through a cluttered environment while preserving network communication connectivity and avoiding both inter-robot collisions and collision with obstacles. In contrast to previous approaches that either plan complete paths for each individual robot in the(More)