Now showing items 1-20 of 24

    • Biologically-Inspired Control for Multi-Agent Self-Adaptive Tasks 

      Yu, Chih-Han; Nagpal, Radhika (American Association for Artificial Intelligence (AAAI) Press, 2010)
      Decentralized agent groups typically require complex mechanisms to accomplish coordinated tasks. In contrast, biological systems can achieve intelligent group behaviors with each agent performing simple sensing and actions. ...
    • Collective Construction by Termite-Inspired Robots 

      Petersen, Kirstin Hagelskjaer (2014-10-21)
      Construction usually involves careful preplanning and direct human operation of tools and material. Bringing automation to construction has the potential to improve its speed and efficiency, and to enable building in ...
    • Collective Decision-Making in Multi-Agent Systems by Implicit Leadership 

      Yu, Chih-Han; Werfel, Justin K.; Nagpal, Radhika (Association for Computing Machinery Press, 2010)
      Coordination within decentralized agent groups frequently requires reaching global consensus, but typical hierarchical approaches to reaching such decisions can be complex, slow, and not fault-tolerant. By contrast, recent ...
    • Collective transport of complex objects by simple robots: Theory and experiments 

      Rubenstein, Michael; Cabrera, Adrian; Werfel, Justin K; Habibi, Golnaz; McLurkin, James; Nagpal, Radhika (2013)
      Ants show an incredible ability to collectively transport complex irregular-shaped objects with seemingly simple coordination. Achieving similarly effective collective transport with robots has potential applications in ...
    • Control of the Mitotic Cleavage Plane by Local Epithelial Topology 

      Gibson, William Tyler; Veldhuis, James H.; Rubinstein, Boris; Cartwright, Heather N.; Perrimon, Norbert; Brodland, G. Wayne; Nagpal, Radhika; Gibson, Matthew C. (Elsevier (Cell Press), 2011)
      For nearly 150 years, it has been recognized that cell shape strongly influences the orientation of the mitotic cleavage plane (e.g. Hofmeister, 1863). However, we still understand little about the complex interplay between ...
    • Coordinated Resource Management in Networked Embedded Systems 

      Waterman, Jason (2012-11-06)
      This dissertation shows that with simple programming abstractions, network-wide resource coordination is efficient and useful for programming embedded sensor networks. Existing systems have focused primarily on managing ...
    • Coordinating Collective Locomotion in an Amorphous Modular Robot 

      Yu, Chih-Han; Werfel, Justin K; Nagpal, Radhika (Institute of Electrical and Electronics Engineers (IEEE), 2010)
      Modular robots can potentially assemble into a wide range of configurations to locomote in different environments. However, designing locomotion strategies for each configuration is often tedious and has generally relied on ...
    • Design of Control Policies for Spatially Inhomogeneous Robot Swarms with Application to Commercial Pollination 

      Berman, Spring; Kumar, Vijay; Nagpal, Radhika (IEEE Computer Society, 2011)
      We present an approach to designing scalable, decentralized control policies that produce a desired collective behavior in a spatially inhomogeneous robotic swarm that emulates a system of chemically reacting molecules. ...
    • DESYNC: Self-Organizing Desynchronization and TDMA on Wireless Sensor Networks 

      Degesys, Julius; Rose, Ian; Patel, Ankit; Nagpal, Radhika (2006)
      Desynchronization is a novel primitive for sensor networks: it implies that nodes perfectly interleave periodic events to occur in a round-robin schedule. This primitive can be used to evenly distribute sampling burden in ...
    • Distributed Colony-Level Algorithm Switching for Robot Swarm Foraging 

      Hoff, Nicholas; Wood, Robert J.; Nagpal, Radhika (Springer-Verlag, 2011-11-15)
      Swarm robotics utilizes a large number of simple robots to accomplish a task, instead of a single complex robot. Communications constraints often force these systems to be distributed and leaderless, placing restrictions ...
    • Distributed Multi-Robot Algorithms for the TERMES 3D Collective Construction System 

      Werfel, Justin K; Petersen, Kirsten; Nagpal, Radhika (Institute of Electrical and Electronics Engineers, 2011)
      The research goal of collective construction is to develop systems in which large numbers of autonomous robots build large-scale structures according to desired specifications. We present algorithms for TERMES, a multi-robot ...
    • Kilobot: A Low Cost Scalable Robot System for Collective Behaviors 

      Rubenstein, Michael; Ahler, Christian Tjornelund; Nagpal, Radhika (Computer Society Press of the IEEE, 2012)
      In current robotics research there is a vast body of work on algorithms and control methods for groups of decentralized cooperating robots, called a swarm or collective. These algorithms are generally meant to control ...
    • Kilobot: A Robotic Module for Demonstrating Behaviors in a Large Scale (\(2^{10}\) Units) Collective 

      Rubenstein, Michael; Nagpal, Radhika (Institute of Electrical and Electronics Engineers, 2010)
      A collective of robots can together complete a task that is beyond the capabilities of any of its individual robots. One property of a robotic collective that allows it to complete such a task is the shape of the collective. ...
    • Materials and mechanisms for amorphous robotic construction 

      Napp, Nils; Rappoli, Olive R.; Wu, Jessica M.; Nagpal, Radhika (2012)
      We present and compare three different amorphous materials for robotic construction. By conforming to surfaces they are deposited on, such materials allow robots to reliably construct in unstructured terrain. However, using ...
    • Mechanical Design and Locomotion of Modular-Expanding Robots 

      Belisle, Rebecca; Yu, Chih-Han; Nagpal, Radhika (Institute of Electrical and Electronics Engineers (IEEE), 2010)
    • Modeling and Inferring Cleavage Patterns in Proliferating Epithelia 

      Patel, Ankit B.; Gibson, William T.; Gibson, Matthew C.; Nagpal, Radhika (Public Library of Science, 2009)
      The regulation of cleavage plane orientation is one of the key mechanisms driving epithelial morphogenesis. Still, many aspects of the relationship between local cleavage patterns and tissue-level properties remain poorly ...
    • On the origins of the mitotic shift in proliferating cell layers 

      Gibson, William T; Rubinstein, Boris Y; Meyer, Emily J; Veldhuis, James H; Brodland, G Wayne; Nagpal, Radhika; Gibson, Matthew C (BioMed Central, 2014)
      Background: During plant and animal development, monolayer cell sheets display a stereotyped distribution of polygonal cell shapes. In interphase cells these shapes range from quadrilaterals to decagons, with a robust ...
    • Optimization of Stochastic Strategies for Spatially Inhomogeneous Robot Swarms: A Case Study in Commercial Pollination 

      Berman, Spring; Nagpal, Radhika; Halász, Ádám (IEEE Computer Society Press, 2011)
      We present a scalable approach to optimizing robot control policies for a target collective behavior in a spatially inhomogeneous robotic swarm. The approach can incorporate robot feedback to maintain system performance ...
    • Positional Communication and Private Information in Honeybee Foraging Models 

      Bailis, Peter David; Nagpal, Radhika; Werfel, Justin K (Springer, 2010)
      Honeybees coordinate foraging efforts across vast areas through a complex system of advertising and recruitment. One mechanism for coordination is the waggle dance, a movement pattern which carries positional information ...
    • Self-Adapting Modular Robotics: A Generalized Distributed Consensus Framework 

      Yu, Chih-Han; Nagpal, Radhika (Institute of Electrical and Electronics Engineers (IEEE), 2009)
      Biological systems achieve amazing adaptive behavior with local agents performing simple sensing and actions. Modular robots with similar properties can potentially achieve self-adaptation tasks robustly. Inspired by this ...