research projects

Collaborative Macorscopic Ensemble Modeling and Control of Robot Teams

We present solutions to the multi robot task allocation (MRTA) problem by controlling robot-robot collaborations to inform time-varying team-wide objectives at the macrosocpic level.

Adaptive Macoroscopic Ensemble Modeling and Control of Robot Teams

We introduce environmental feedback to macroscopic ensemble modeling and control of robot teams to adapt team assignment to changing environmental conditions.

USV River Deployments

Deploying Unmanned Surface Vehicles on the Schuylkill River in Philadelphia PA to collect data about the health of the river.

Verification of Emergent Behavior

Experimental verification of swarm behaviors is challenging, one way to address this is to use mixed reality. Existing theoretical work proposes robot formations emerge from time delay between inter robot communication. Our results using the Crazyflie platform demonstrate the existence of theoretically predicted emergent behaviors

Calibrated Mixed Reality

Mixed reality allows for the combination of robots and simulated agents to improve scalability. To improve the fidelity of these experiments data driven models are used to match performance.

Heterogeneous Robotic Swarms

Segregation of heterogeneous robotic swarms is a necessary step before performing a new task.

Mechatronic Gingerbread Houses