Publications

2022

PogoDrone: Design, Model, and Control of a Jumping Quadrotor

Zhu, Brian; Xu, Jiawei; Charway, Andrew; Saldaña, David

PogoDrone: Design, Model, and Control of a Jumping Quadrotor Inproceedings

In: 2022 IEEE International Conference on Robotics and Automation, 2022.

Abstract | BibTeX | Tags: aerial manipulation, aerial robot, quadrotor | Links:

2021

H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF

Xu, Jiawei; D’Antonio, Diego S.; Saldaña, David

H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF Inproceedings

In: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN: 978-1-7281-9077-8.

Abstract | BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor | Links:

Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot

Cardona, Gustavo A.; D’Antonio, Diego S.; Vasile, Cristian-Ioan; Saldaña, David

Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot Inproceedings

In: 2021.

Abstract | BibTeX | Tags: aerial manipulation, aerial robot, cable, catenary robot, quadrotor | Links:

The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors

D’Antonio, Diego S.; Cardona, Gustavo A.; Saldaña, David

The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors Journal Article

In: IEEE Robotics and Automation Letters, 6 (2), pp. 3857-3863, 2021, ISSN: 2377-3766.

Abstract | BibTeX | Tags: aerial manipulation, aerial robot, cable, catenary robot, quadrotor | Links:

Resilient Consensus in Robot Swarms With Periodic Motion and Intermittent Communication

Yu, Xi; Saldaña, David; Shishika, Daigo; Hsieh, M Ani

Resilient Consensus in Robot Swarms With Periodic Motion and Intermittent Communication Journal Article

In: IEEE Transactions on Robotics, 2021.

BibTeX | Tags: resilient consensus, robot networks, robot swarms | Links:

Vision-Based Self-Assembly for Modular Multirotor Structures

Litman, Yehonathan; Gandhi, Neeraj; Phan, Linh Thi Xuan; Saldaña, David

Vision-Based Self-Assembly for Modular Multirotor Structures Journal Article

In: IEEE Robotics and Automation Letters, 6 (2), pp. 2202-2208, 2021.

BibTeX | Tags: aerial robot, computer vision, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:

Estimating boundary dynamics using robotic sensor networks with pointwise measurements

Saldana, David; Assunçao, Renato; Hsieh, M. Ani; Campos, Mario F. M.; Kumar, Vijay

Estimating boundary dynamics using robotic sensor networks with pointwise measurements Journal Article

In: Autonomous Robots, 45 (2), pp. 193–208, 2021.

BibTeX | Tags: boundary estimation, environmental monitoring, multi-robot system, robot boat, robot sensor network

Adaptive Control for Cooperative Aerial Transportation Using Catenary Robots

Cardona, Gustavo A.; D’Antonio, Diego S.; Fierro, Rafael; Saldaña, David

Adaptive Control for Cooperative Aerial Transportation Using Catenary Robots Inproceedings

In: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), pp. 1-8, 2021.

BibTeX | Tags: aerial manipulation, aerial robot, cable, catenary robot, quadrotor | Links:

Resilient Task Allocation in Heterogeneous Multi-Robot Systems

Mayya, Siddharth; D’antonio, Diego S.; Saldaña, David; Kumar, Vijay

Resilient Task Allocation in Heterogeneous Multi-Robot Systems Journal Article

In: IEEE Robotics and Automation Letters, 6 (2), pp. 1327-1334, 2021.

BibTeX | Tags: heterogeneous robots, robot networks, robot swarms, task allocation | Links:

Finding Structure Configurations for Flying Modular Robots

Gabrich, Bruno; Saldaña, David; Yim, Mark

Finding Structure Configurations for Flying Modular Robots Inproceedings

In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6970-6976, 2021.

BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:

2020

Dense r-robust formations on lattices

Guerrero-Bonilla, Luis; Saldaña, David; Kumar, Vijay

Dense r-robust formations on lattices Inproceedings

In: 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 6633-6639, 2020.

BibTeX | Tags: resilient consensus, robot networks, robot swarms | Links:

Modular Robot Formation and Routing for Resilient Consensus

Yu, Xi; Shishika, Daigo; Saldaña, David; Hsieh, M. Ani

Modular Robot Formation and Routing for Resilient Consensus Inproceedings

In: 2020 American Control Conference (ACC), pp. 2464-2471, 2020.

BibTeX | Tags: multi-rotor, resilient consensus, robot networks, robot swarms, self-reconfiguration algorithms

Self-Reconfiguration in Response to Faults in Modular Aerial Systems

Gandhi, Neeraj; Saldaña, David; Kumar, Vijay; Phan, Linh T. X.

Self-Reconfiguration in Response to Faults in Modular Aerial Systems Journal Article

In: IEEE Robotics and Automation Letters, 5 (2), pp. 2522-2529, 2020.

BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms

2019

Design and Control of Aerial Modules for Inflight Self-Disassembly

Saldaña, David; Gupta, P. M.; Kumar, Vijay

Design and Control of Aerial Modules for Inflight Self-Disassembly Journal Article

In: IEEE Robotics and Automation Letters, 4 (4), pp. 3410-3417, 2019, ISSN: 2377-3766.

BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:

Design Guarantees for Resilient Robot Formations on Lattices

Guerrero-Bonilla, Luis; Saldaña, David; Kumar, Vijay

Design Guarantees for Resilient Robot Formations on Lattices Journal Article

In: IEEE Robotics and Automation Letters, 4 (1), pp. 89-96, 2019, ISSN: 2377-3766.

BibTeX | Tags: resilient consensus, robot networks, robot swarms | Links:

ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor

Li, Guanrui; Gabrich, Bruno; Saldaña, David; Das, Jnaneshwar; Kumar, Vijay; Yim, Mark

ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor Inproceedings

In: 2019 International Conference on Robotics and Automation (ICRA), pp. 346-352, 2019.

BibTeX | Tags: aerial robot, computer vision, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:

2018

Resilient Backbones in Hexagonal Robot Formations

Saldaña, David; Guerrero-Bonilla, Luis; Kumar, Vijay

Resilient Backbones in Hexagonal Robot Formations Book Chapter

In: Distributed Autonomous Robotic Systems: The 14th International Symposium, pp. 427–440, Cham, 2018, ISBN: 978-3-030-05816-6.

BibTeX | Tags: resilient consensus, robot networks, robot swarms

ModQuad: The Flying Modular Structure that Self-Assembles in Midair

Saldaña, David; Gabrich, Bruno; Li, Guanrui; Yim, Mark; Kumar, Vijay

ModQuad: The Flying Modular Structure that Self-Assembles in Midair Inproceedings

In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 691-698, 2018, ISSN: 2577-087X.

BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:

A Flying Gripper Based on Cuboid Modular Robots

Gabrich, Bruno; Saldaña, David; Kumar, Vijay; Yim, Mark

A Flying Gripper Based on Cuboid Modular Robots Inproceedings

In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 7024-7030, 2018, ISSN: 2577-087X.

BibTeX | Tags: aerial manipulation, aerial robot, gripper, modquad, modular robots, multi-rotor, quadrotor | Links:

Triangular Networks for Resilient Formations

Saldaña, David; Prorok, Amanda; Campos, Mario F. M.; Kumar, Vijay

Triangular Networks for Resilient Formations Book Chapter

In: Groß, Roderich; Kolling, Andreas; Berman, Spring; Frazzoli, Emilio; Martinoli, Alcherio; Matsuno, Fumitoshi; Gauci, Melvin (Ed.): Distributed Autonomous Robotic Systems: The 13th International Symposium, pp. 147–159, Springer International Publishing, Cham, 2018, ISBN: 978-3-319-73008-0.

Abstract | BibTeX | Tags: resilient consensus, robot networks, robot swarms | Links:

2017

Resilient Flocking for Mobile Robot Teams

Saulnier, Kelsey; Saldaña, David; Prorok, Amanda; Pappas, George J.; Kumar, Vijay

Resilient Flocking for Mobile Robot Teams Journal Article

In: IEEE Robotics and Automation Letters, 2 (2), pp. 1039-1046, 2017.

BibTeX | Tags: resilient consensus, robot networks, robot swarms | Links:

Resilient consensus for time-varying networks of dynamic agents

Saldaña, David; Prorok, Amanda; Sundaram, Shreyas; Campos, Mario F. M.; Kumar, Vijay

Resilient consensus for time-varying networks of dynamic agents Inproceedings

In: 2017 American Control Conference (ACC), pp. 252-258, 2017.

BibTeX | Tags: resilient consensus, robot networks, robot swarms | Links:

Jahn, Alexander; Alitappeh, Reza Javanmard; Saldaña, David; Pimenta, Luciano C. A.; Santos, Andre G.; Campos, Mario F. M.

Distributed multi-robot coordination for dynamic perimeter surveillance in uncertain environments Inproceedings

In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 273-278, 2017.

BibTeX | Tags: environmental monitoring, multi-robot system, robot networks, robot sensor network, surveillance | Links:

A decentralized algorithm for assembling structures with modular robots

Saldaña, David; Gabrich, Bruno; Whitzer, Michael; Prorok, Amanda; Campos, Mario F. M.; Yim, Mark; Kumar, Vijay

A decentralized algorithm for assembling structures with modular robots Inproceedings

In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2736-2743, 2017.

BibTeX | Tags: modquad, modular robots, self-reconfiguration algorithms | Links:

Cooperative prediction of time-varying boundaries with a team of robots

Saldaña, David; Assunção, Renato; Hsieh, M. Ani; Campos, Mario F. M.; Kumar, Vijay

Cooperative prediction of time-varying boundaries with a team of robots Inproceedings

In: 2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), pp. 9-16, 2017.

BibTeX | Tags: resilient consensus, robot networks, robot swarms | Links:

2016

Predicting Environmental Boundary Behaviors With a Mobile Robot

Saldaña, David; Assunção, Renato; Campos, Mario F. M.

Predicting Environmental Boundary Behaviors With a Mobile Robot Journal Article

In: IEEE Robotics and Automation Letters, 1 (2), pp. 1133-1139, 2016, ISSN: 2377-3766.

BibTeX | Tags: boundary estimation, environmental monitoring, multi-robot system, robot sensor network | Links:

Dynamic perimeter surveillance with a team of robots

Saldaña, David; Alitappeh, Reza J.; Pimenta, Luciano C. A.; Assunção, Renato; Campos, Mario F. M.

Dynamic perimeter surveillance with a team of robots Inproceedings

In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 5289-5294, 2016.

BibTeX | Tags: environmental monitoring, multi-robot system, robot sensor network, surveillance | Links:

2015

Saldaña, David; Melo, Ramon; Nascimento, Erickson R.; Campos, Mario F. M.

Detecting Latent Variables of Interest in Geo-localized Environments Using an Aerial Robot Inproceedings

In: Proceedings of the Brazilian Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2015.

BibTeX | Tags: environmental monitoring, multi-robot system, robot sensor network

Saldaña, David; Chaimowicz, Luiz; Campos, Mario F. M.

Searching for Regions Out of Normal Conditions Using a Team of Robots Inproceedings

In: Ösorio, Fernando S.; Wolf, Denis Fernando; Branco, Kalinka Castelo; Jr., Valdir Grassi; Becker, Marcelo; Romero, Roseli" (Ed.): Robotics, pp. 1–15, Springer Berlin Heidelberg, Berlin, Heidelberg, 2015, ISBN: 978-3-662-48134-9.

Abstract | BibTeX | Tags: environmental monitoring, multi-robot system, robot sensor network

Saldaña, David; Assunção, Renato; Campos, Mario F. M.

A distributed multi-robot approach for the detection and tracking of multiple dynamic anomalies Inproceedings

In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 1262-1267, 2015.

BibTeX | Tags: | Links:

2014

Saldaña, David; Chaimowicz, Luiz; Campos, Mario F. M.

Searching and Tracking Anomalies with Multiple Robots: A Probabilistic Approach Inproceedings

In: 2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol, pp. 67-72, 2014.

BibTeX | Tags: boundary estimation, environmental monitoring, multi-robot system, robot sensor network | Links: