Robotics & Embodied AI

A collection of centralized and decentralized planning methods for multiple robots navigating shared environments.

A C++ library implementing search-based algorithms for multi-robot path planning and coordinated motion.

A decentralized trajectory planner for coordinating autonomous drone swarms in cluttered environments.

A modular simulation environment for developing and testing heterogeneous teams of autonomous vehicles.

A multi-robot warehouse environment for studying cooperative task allocation and reinforcement learning.

A PyBullet environment for single and multi-agent reinforcement learning with quadrotor teams.

A multi-agent embodied planning framework that assigns robot skills and decomposes household tasks for robot teams.

A ROS-based suite for operating and coordinating distributed multi-robot systems.

A graph control barrier function framework for safe coordination and control of multi-agent robotic systems.

An open framework for modeling, simulating, and controlling networked multi-agent systems.