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Estimation-based Safety-Critical Control of Multi-Agent Robotic Systems

Keyword:

Control Lyapunov Function, Formation Control, Control Barrier Function, Multi-Agent Robotic Systems, Safety-Critical Controller Design, and Adaptive Cruise Control for Autonomous Vehicles

Creator:

Bohara, Vishrut

Advisor:

Farzan, Siavash

Publisher:

Worcester Polytechnic Institute

Date Created:

2023-12-18

Resource Type:

Thesis

Degree:

MS

Unit (Department):

Robotics Engineering
Intelligent Control of Soft Snake Robot Locomotion with Biomimic Vertebrate System

Keyword:

Bio-inspired control, Neural oscillators, Snake robots locomotion, Tactile sensors, Reinforcement learning, and Soft robot control

Creator:

Liu, Xuan

Advisor:

Onal, Cagdas D. and Fu, Jie

Publisher:

Worcester Polytechnic Institute

Date Created:

2023-12-04

Resource Type:

Dissertation

Degree:

PhD

Unit (Department):

Robotics Engineering
Learning Modular Robotic Control via Reinforcement Learning using Attention based Global State Prediction

Keyword:

Reinforcement Learning, Legged Robotics, Communication, Modular Robotics, and Coordination

Creator:

Francis, Brian

Advisor:

Bloom, Josh and Pinciroli, Carlo

Publisher:

Worcester Polytechnic Institute

Date Created:

2023-12-12

Resource Type:

Thesis

Degree:

MS

Unit (Department):

Robotics Engineering
Decentralized Multi-Agent Reinforcement Learning for Collective Transport

Keyword:

Swarm Robotics, Multi-Agent Reinforcement Learning, Reinforcement Learning, Decentralized System, and Collective Transport

Creator:

Mukherjee, Apratim

Advisor:

Pinciroli, Carlo

Publisher:

Worcester Polytechnic Institute

Date Created:

2023-05-06

Resource Type:

Thesis

Degree:

MS

Unit (Department):

Robotics Engineering
Optimal Control and Reinforcement Learning for Stochastic Systems under Temporal Logic Specifications

Keyword:

Reinforcement Learning, Optimal Control, Temporal Logic, Formal Methods, Robotics, and Markov Decision Process

Creator:

Li, Lening

Advisor:

Fu, Jie

Publisher:

Worcester Polytechnic Institute

Date Created:

2022-12-12

Resource Type:

Dissertation

Degree:

PhD

Unit (Department):

Robotics Engineering
Implementing Emulated Communication Models for Hybrid and Dynamic Network Topologies

Keyword:

Mesh Networks, Network Emulation, Rural Broadband, CORE/EMANE, and MANETs

Creator:

Murphy, Joseph

Advisor:

Wyglinski, Alexander

Publisher:

Worcester Polytechnic Institute

Date Created:

2022-12-20

Resource Type:

Thesis

Degree:

MS

Unit (Department):

Electrical & Computer Engineering
Formation-centric software interface

Keyword:

user interface, robot formations, programming, and swarm robotics

Creator:

Walia, Rohan

Advisor:

Pinciroli, Carlo

Publisher:

Worcester Polytechnic Institute

Date Created:

2022-06-16

Resource Type:

Thesis

Degree:

MS

Unit (Department):

Robotics Engineering
Modular Continuum Mobile Robot: Design, Modeling, and Motion Planning

Keyword:

Bioinspired Locomotion, Motion Planning, Simulation, Soft Robotics, Continuum Robot, and Mobile Robot

Creator:

Sun, Yinan

Advisor:

Onal, Cagdas

Publisher:

Worcester Polytechnic Institute

Date Created:

2022-08-10

Resource Type:

Dissertation

Degree:

PhD

Unit (Department):

Robotics Engineering
Coarse Exogenous Fault Detection in Multi-Robot Systems using Variational Autoencoders and Normalizing Flows

Keyword:

multi-robot systems, variational autoencoders, fault detection, and normalizing flows

Creator:

Jawahar, Pratik

Advisor:

Pinciroli, Carlo

Publisher:

Worcester Polytechnic Institute

Date Created:

2022-08-17

Resource Type:

Thesis

Degree:

MS

Unit (Department):

Robotics Engineering
Deep Reinforcement Learning for Intelligent Frontier Ranking in Search-and-rescue Scenarios

Keyword:

Swarm, Machine Learning, Advantage Actor-Critic, Frontier, Reinforcement Learning, and SLAM

Creator:

Bergeron, Taylor

Advisor:

Pinciroli, Carlo

Publisher:

Worcester Polytechnic Institute

Date Created:

2022-05-02

Resource Type:

Thesis

Degree:

MS

Unit (Department):

Robotics Engineering

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Masters Theses17
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Advani, Nikhil Kamalkumar1
Bergeron, Taylor1
Bohara, Vishrut1
Dutia, Dharini1
Enyedy, Albert J.1
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Bloom, Josh1
Farzan, Siavash1
Fu, Jie3
Li, Zhi1
Onal, Cagdas1
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Beltrame, Giovanni1
Bloom, Josh1
Calli, Berk2
Clark, Andrew1
Cowlagi, Raghvendra V.1
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Unit (Department)

Electrical & Computer Engineering1
Robotics Engineering21

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Worcester Polytechnic Institute22

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Thesis17
Dissertation5

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