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Assessing Reputation to Improve Team Performance in Heterogeneous Multi-Robot Coverage

https://doi.org/10.1109/ICRA57147.2024.10611134

Coffey, Mela; Pierson, Alyssa (May 2024, IEEE)

Free, publicly-accessible full text available May 13, 2025
Covering Dynamic Demand with Multi-Resource Heterogeneous Teams

https://doi.org/10.1109/IROS55552.2023.10342119

Coffey, Mela; Pierson, Alyssa (October 2023, IEEE)

In this work, we consider a team of heterogeneous robots equipped with various types and quantities of resources, and tasked with supplying these resources to multiple dynamic demand locations. We present an adaptive control policy that enables robots to serve a dynamic demand: we allow demand to deplete as robots supply resources, and we allow demand injection and movement of demand locations. We show that the demand is input-to-state stable (ISS) under our proposed resource dynamics, and thus the robots can drive the demand to a steady state. Finally, we present simulations and hardware experiments to demonstrate our approach, and demonstrate the benefits of coverage over a persistent monitoring approach.
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Stochastic Dynamic Games in Belief Space

https://doi.org/10.1109/TRO.2021.3075376

Schwarting, Wilko; Pierson, Alyssa; Karaman, Sertac; Rus, Daniela (December 2021, IEEE Transactions on Robotics)

Full Text Available