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projects

The Robotarium: A remotely accessible swarm robotics testbed

  • Expanding the Robotarium to include quadcopters for automatic experiment execution and charging.
  • Developed safety framework compatible with learning methods for disturbed systems enabling the Robotarium to operate safely for long durations of time.
  • Built charging stations for the GRITSBots to wirelessly charge.

Boids’ Algorithm for Swarms

  • Applied Boids Algorithm on a group of up to 19 GRITSbots. Project was part of my undergraduate research at the GRITS lab.
  • Boids is a decentralized algorithm that imitates herding behavior. Each agent follows a set of simple rules: Separation, Alignment & Cohesion. Both Leader-Follower and Wind dynamics were implemented.
  • The projects’ videos can be found on my Youtube channel accessible through the left-hand sidebar.

NASA CARGOS

  • Won the best Mechanical Engineering Project Award for creating a Compact Active Response Gravity Offload System (CARGOS).
  • System to be mounted on NASA’s ARGOS to improve their astronauts’ reduced-gravity training experience.
  • Implemented the GUI & the feedback loop using a PID controller.

publications

The Robotarium: Automating a Remotely Accessible, Multi-Robot Testbed

Published in IEEE Robotics and Automation Letters (RA-L) - submitted, 2020

This paper is about the number 1. The number 2 is left for future work.

Recommended citation: S. Wilson, P. Glotfelter, S. Mayya, G. Notomista, Y. Emam, X. Cai, and M. Egerstedt, "The Robotarium: Automating a Remotely Accessible, Multi-Robot Testbed," IEEE Robotics and Automation Letters, Submitted, 2020. ...

Adaptive Allocation for Heterogeneous Multi-Robot Teams with Evolving and Unknown Robot Capabilities

Published in IEEE International Conference on Robotics and Automation (ICRA), 2020

This paper is about the number 1. The number 2 is left for future work.

Recommended citation: Y. Emam, S. Mayya, G. Notomista, A. Bohannon, M. Egerstedt, "Adaptive Task Allocation for Heterogeneous Multi-Robot Teams with Evolving and Unknown Robot Capabilities," International Conference on Robotics and Automation, to appear.

A Receding Horizon Scheduling Approach for Search & Rescue Scenarios

Published in IFAC World Congress, 2020

This paper is about the number 1. The number 2 is left for future work.

Recommended citation: Y. Emam, S. Wilson, M. Hakenberg, U. Muenz, M. Egerstedt, "A Receding Horizon Scheduling Approach for Search & Rescue Scenarios," IFAC World Congress.

A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems

Published in IEEE Transaction on Robotics (T-RO) - submitted, 2020

This paper is about the number 1. The number 2 is left for future work.

Recommended citation: G. Notomista, S. Mayya, Y. Emam, C. Kroninger, A. Bohannon, S. Hutchinson M. Egerstedt, "A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems," IEEE Transaction on Robotics, Submitted, 2020.

Data-Driven Robust Barrier Functions for Safe, Long-Term Operation

Published in IEEE Transaction on Robotics (T-RO) - submitted, 2020

This paper is about the number 1. The number 2 is left for future work.

Recommended citation: Y. Emam, P. Glotfelter, S. Wilson, G. Notomista, M. Egerstedt, "Data-Driven Robust Barrier Functions for Safe, Long-Term Operation," IEEE Transaction on Robotics, Submitted, 2020.

Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions

Published in IEEE International Conference on Robotics and Automation (ICRA), 2021

This paper is about the number 1. The number 2 is left for future work.

Recommended citation: Y. Emam, G. Notomista, P. Glotfelter, M. Egerstedt, "Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions," International Conference on Robotics and Automation.

talks

teaching