Ankur Mehta
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View article: Population-aware Online Mirror Descent for Mean-Field Games with Common Noise by Deep Reinforcement Learning
Population-aware Online Mirror Descent for Mean-Field Games with Common Noise by Deep Reinforcement Learning Open
Mean Field Games (MFGs) offer a powerful framework for studying large-scale multi-agent systems. Yet, learning Nash equilibria in MFGs remains a challenging problem, particularly when the initial distribution is unknown or when the populat…
Mechanisms and Computational Design of Multi-Modal End-Effector with Force Sensing using Gated Networks Open
In limbed robotics, end-effectors must serve dual functions, such as both feet for locomotion and grippers for grasping, which presents design challenges. This paper introduces a multi-modal end-effector capable of transitioning between fl…
Decentralized Input and State Estimation for Multi-agent System with Dynamic Topology and Heterogeneous Sensor Network Open
A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they o…
View article: Population-aware Online Mirror Descent for Mean-Field Games by Deep Reinforcement Learning
Population-aware Online Mirror Descent for Mean-Field Games by Deep Reinforcement Learning Open
Mean Field Games (MFGs) have the ability to handle large-scale multi-agent systems, but learning Nash equilibria in MFGs remains a challenging task. In this paper, we propose a deep reinforcement learning (DRL) algorithm that achieves popu…
View article: Self-deployable contracting-cord metamaterials with tunable mechanical properties
Self-deployable contracting-cord metamaterials with tunable mechanical properties Open
We present a tension-driven jamming strategy for self-deployable metamaterials with tunable stiffness and damping after deployment. The metamaterials can self-retract to its original soft state for compact transport and be ready for cyclic…
View article: Origami-based integration of robots that sense, decide, and respond
Origami-based integration of robots that sense, decide, and respond Open
Origami-inspired engineering has enabled intelligent materials and structures to process and react to environmental stimuli. However, it is challenging to achieve complete sense-decide-act loops in origami materials for autonomous interact…
Computational Support for Multiplicity in Hierarchical Electronics Design Open
While hierarchical design promises design process improvements through structures that better enable computational design, the basic model of blocks, ports, and connections lacks support for multiplicity – dealing with repeated instances o…
REMS: Middleware for Robotics Education and Development Open
This paper introduces REMS, a robotics middleware and control framework that is designed to introduce the Zen of Python to robotics and to improve robotics education and development flow. Although existing middleware can serve hardware abs…
View article: Fabrication-aware design for furniture with planar pieces
Fabrication-aware design for furniture with planar pieces Open
We propose a computational design tool to enable casual end-users to easily design, fabricate, and assemble flat-pack furniture with guaranteed manufacturability. Using our system, users select parameterized components from a library and c…
View article: A crawling robot driven by a folded self-sustained oscillator
A crawling robot driven by a folded self-sustained oscillator Open
Locomotive robots that do not rely on electronics and/or electromagnetic\ncomponents will open up new perspectives and applications for robotics.\nHowever, these robots usually involve complicated and tedious fabrication\nprocesses, limiti…
View article: A Cut-and-Fold Self-Sustained Compliant Oscillator for Autonomous Actuation of Origami-Inspired Robots
A Cut-and-Fold Self-Sustained Compliant Oscillator for Autonomous Actuation of Origami-Inspired Robots Open
Origami-inspired robots are of particular interest given their potential for rapid and accessible design and fabrication of elegant designs and complex functionalities through cutting and folding of flexible 2D sheets or even strings, i.e.…
Joint State and Input Estimation of Agent Based on Recursive Kalman Filter Given Prior Knowledge Open
Modern autonomous systems are purposed for many challenging scenarios, where agents will face unexpected events and complicated tasks. The presence of disturbance noise with control command and unknown inputs can negatively impact robot pe…
User Based Design and Evaluation Pipelineo for Indoor Airships Open
Designing a controllable airship for non-expert users or preemptively evaluating the performance of desired airships has always been a very challenging problem. This paper explores the blimp design parameter space from the aspect of the us…
User Based Design and Evaluation Pipeline for Indoor Airships Open
Designing a controllable airship for non-expert users or preemptively evaluating the performance of desired airships has always been a very challenging problem. This paper explores the blimp design parameter space from the aspect of the us…
View article: Direct LiDAR Odometry: Fast Localization with Dense Point Clouds
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds Open
Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR odome…
LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments Open
Although Trajectory Optimization (TO) is one of the most powerful motion planning tools, it suffers from expensive computational complexity as a time horizon increases in cluttered environments. It can also fail to converge to a globally o…
View article: A Computational Design and Evaluation Tool for 3D Structures with Planar Surfaces
A Computational Design and Evaluation Tool for 3D Structures with Planar Surfaces Open
Three dimensional (3D) structures composed of planar surfaces can be build out of accessible materials using easier fabrication technique with shorter fabrication time. To better design 3D structures with planar surfaces, realistic models …
View article: Computational Design and Fabrication of Corrugated Mechanisms from Behavioral Specifications
Computational Design and Fabrication of Corrugated Mechanisms from Behavioral Specifications Open
Orthogonally assembled double-layered corrugated (OADLC) mechanisms are a class of foldable structures that harness origami-inspired methods to enhance the structural stiffness of resulting devices; these mechanisms have extensive applicat…
View article: Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints
Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints Open
Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still pla…
Toward Synergic Learning for Autonomous Manipulation of Deformable Tissues via Surgical Robots: An Approximate Q-Learning Approach Open
In this paper, we present a synergic learning algorithm to address the task of indirect manipulation of an unknown deformable tissue. Tissue manipulation is a common yet challenging task in various surgical interventions, which makes it a …
Event-Triggered Diffusion Kalman Filters Open
Distributed state estimation strongly depends on collaborative signal processing, which often requires excessive communication and computation to be executed on resource-constrained sensor nodes. To address this problem, we propose an even…
Localization Algorithm with Circular Representation in 2D and its Similarity to Mammalian Brains Open
Extended Kalman filter (EKF) does not guarantee consistent mean and covariance under linearization, even though it is the main framework for robotic localization. While Lie group improves the modeling of the state space in localization, th…
TERSE-KF: Event-Trigger Diffusion Kalman Filter with Application to Localization and Time Synchronization. Open
The performance of a distributed network state estimation problem depends strongly on collaborative signal processing, which often involves excessive communication and computation overheads on a resource-constrained sensor node. In this wo…