Philip Dames

Alkesh K. Srivastava, Philip Dames

Multi-robot systems cannot assume persistent network connectivity. We study this problem through target tracking, where performance depends on how quickly target information is sensed, transported through the team, and used before it becomes stale. When robots exchange information only through physical encounters, tracking becomes a kinetic information-transport problem: robot motion induces encounters, encounters carry target-state estimates, information age determines staleness, and stale information produces tracking error. This paper develops a kinetic theory of encounter-based information propagation and identifies three limits. The first is an access limit -- information cannot support team-level coordination unless it spreads beyond the robots that sensed it. The second is a staleness limit -- even propagated information loses value as the target moves. The third is a geometry limit -- when target motion outpaces information transport, tracking error approaches a saturation regime where communication improvements alone have diminishing returns. We evaluate the theory through large-scale simulations varying team size, operating area, communication range, and target speed. Results support the proposed access-staleness-geometry decomposition: communication coverage governs the access transition; once information is accessible, tracking error is shaped by target displacement; and this response is locally linear in restricted regimes but nonlinear over broader ranges because of sensing refreshes and bounded geometry. Across controlled sweeps and joint variation, the derived access and staleness coordinates reliably describe tracking performance. Together, these results establish a kinetic-theoretic framework for predicting and designing encounter-based multi-robot systems.

Alkesh K. Srivastava, Jared Michael Levin, Philip Dames

We consider the problem of delivering multiple packages from a single depot to distinct goal locations using a homogeneous fleet of robots with limited carrying capacity. We propose VCST-RCP, a Voronoi-Constrained Steiner Tree Relay Coordination Planning framework that explicitly treats inter-robot relays as a design primitive. The approach operates in two stages: (i) constructing a sparse relay backbone by combining Voronoi-derived exchange interfaces with Steiner tree optimization, and (ii) synthesizing robot-level pickup, relay, and delivery schedules under capacity and service-time constraints. Unlike traditional methods that rely on direct source-to-destination transport, our framework organizes package flow through a shared relay network, reducing redundant long-haul motion. Extensive experiments across multiple scales show that VCST-RCP reduces total fleet travel distance by an average of 31% (up to nearly 50%) compared to Hungarian assignment and significantly outperforms OR-Tools CVRP, with statistically significant improvements (p < 10^{-3}). These gains translate into over 50% higher delivery efficiency (packages per kilometer), directly improving energy utilization. An ablation study further reveals that optimizing relay placement yields substantially larger improvements than adapting spatial partitioning alone, establishing relay design as the dominant factor governing system performance. Overall, the results demonstrate that relay-based coordination provides a scalable and effective framework for energy-aware multi-robot delivery in real-world logistics settings.

Philip Dames, Vijay Kumar

This report outlines the procedure and results of an experiment to characterize a bearing-only sensor for use with PHD filter. The resulting detection, measurement, and clutter models are used for hardware and simulated experiments with a team of mobile robots autonomously seeking an unknown number of objects of interest in an office environment.

Philip Dames, Vijay Kumar

This technical report is an extended version of the paper 'Cooperative Multi-Target Localization With Noisy Sensors' accepted to the 2013 IEEE International Conference on Robotics and Automation (ICRA). This paper addresses the task of searching for an unknown number of static targets within a known obstacle map using a team of mobile robots equipped with noisy, limited field-of-view sensors. Such sensors may fail to detect a subset of the visible targets or return false positive detections. These measurement sets are used to localize the targets using the Probability Hypothesis Density, or PHD, filter. Robots communicate with each other on a local peer-to-peer basis and with a server or the cloud via access points, exchanging measurements and poses to update their belief about the targets and plan future actions. The server provides a mechanism to collect and synthesize information from all robots and to share the global, albeit time-delayed, belief state to robots near access points. We design a decentralized control scheme that exploits this communication architecture and the PHD representation of the belief state. Specifically, robots move to maximize mutual information between the target set and measurements, both self-collected and those available by accessing the server, balancing local exploration with sharing knowledge across the team. Furthermore, robots coordinate their actions with other robots exploring the same local region of the environment.