M
Marcel Kaufmann
Researcher at École Polytechnique de Montréal
Publications - 12
Citations - 155
Marcel Kaufmann is an academic researcher from École Polytechnique de Montréal. The author has contributed to research in topics: Robot & Swarm behaviour. The author has an hindex of 6, co-authored 10 publications receiving 89 citations. Previous affiliations of Marcel Kaufmann include California Institute of Technology.
Papers
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Proceedings ArticleDOI
Robust Area Coverage with Connectivity Maintenance
Luca Siligardi,Jacopo Panerati,Marcel Kaufmann,Marco Minelli,Cinara Ghedini,Giovanni Beltrame,Lorenzo Sabattini +6 more
TL;DR: A tri-objective control law is proposed that outperforms other simpler strategies in terms of network connectivity, robustness to failure, and area coverage and is implemented in a team of eight Khepera IV robots.
Journal ArticleDOI
Planetary Exploration With Robot Teams: Implementing Higher Autonomy With Swarm Intelligence
David St-Onge,Marcel Kaufmann,Jacopo Panerati,Benjamin Ramtoula,Yanjun Cao,Emily B. J. Coffey,Giovanni Beltrame +6 more
TL;DR: Results show that implementing higher autonomy with swarm intelligence can reduce workload, freeing the operator for other tasks such as overseeing strategy and communication, and future work will further leverage advances in swarm intelligence for exploration missions.
Journal ArticleDOI
Robust connectivity maintenance for fallible robots
Jacopo Panerati,Marco Minelli,Cinara Ghedini,Lucas Meyer,Marcel Kaufmann,Lorenzo Sabattini,Giovanni Beltrame +6 more
TL;DR: This paper analyzes a set of techniques to assess, control, and enforce connectivity in the context of fallible robots and introduces a controller for connectivity maintenance in the presence of faults.
Journal ArticleDOI
Self-optimization of resilient topologies for fallible multi-robots
Marco Minelli,Jacopo Panerati,Marcel Kaufmann,Cinara Ghedini,Giovanni Beltrame,Lorenzo Sabattini +5 more
TL;DR: This work addresses the problem of simultaneously maximizing the resilience to faults and area coverage of dynamic multi-robot topologies with a three-fold control law and a distributed online optimization strategy that computes the optimal choice of control parameters for each robot.
Posted Content
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge.
Ali Agha,Kyohei Otsu,Benjamin Morrell,David D. Fan,Rohan Thakker,Angel Santamaria-Navarro,Sung-Kyun Kim,Amanda Bouman,Xianmei Lei,Jeffrey A. Edlund,Muhammad Fadhil Ginting,Kamak Ebadi,Matthew Anderson,Torkom Pailevanian,Edward Terry,Michael Wolf,Andrea Tagliabue,Tiago Stegun Vaquero,Matteo Palieri,Scott Tepsuporn,Yun Chang,Arash Kalantari,Fernando Chavez,Brett T. Lopez,Nobuhiro Funabiki,Gregory Miles,Thomas Touma,Alessandro Buscicchio,Jesus Tordesillas,Nikhilesh Alatur,Jeremy Nash,William Walsh,Sunggoo Jung,Hanseob Lee,Christoforos Kanellakis,John Mayo,Scott Harper,Marcel Kaufmann,Anushri Dixit,Gustavo J. Correa,Carlyn Lee,Jay Gao,Gene Merewether,Jairo Maldonado-Contreras,Gautam Salhotra,Maira Saboia da Silva,Benjamin Ramtoula,Yuki Kubo,Seyed Abolfazl Fakoorian,Alexander Hatteland,Taeyeon Kim,Tara Bartlett,Alex Stephens,Leon Kim,Chuck Bergh,Eric Heiden,Thomas Lew,Abhishek Cauligi,Tristan Heywood,Andrew Kramer,Henry A. Leopold,Hyungho Chris Choi,Shreyansh Daftry,Olivier Toupet,Inhwan Wee,Abhishek Thakur,Micah Feras,Giovanni Beltrame,George Nikolakopoulos,David Hyunchul Shim,Luca Carlone,Joel W. Burdick +71 more
TL;DR: NeBula as mentioned in this paper is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states).