All Publications

131 Publications

2024

[1]
D. Chiu, R. Nagpal, and B. Haghighat, “Optimization and Evaluation of a Multi Robot Surface Inspection Task Through Particle Swarm Optimization”, in IEEE International Conference on Robotics and Automation (ICRA), 2024.
[1]
D. Ni, H. Ko, and R. Nagpal, “Leader-Follower 3D Formation for Underwater Robots”, in 17th International Symposium on Distributed Autonomous Robotic Systems (DARS’24), 2024.
[1]
S. Ramshanker, H. Ko, and R. Nagpal, “Strategic Sacrifice: Self-Organized Robot Swarm Localization for Inspection Productivity”, in 17th International Symposium on Distributed Autonomous Robotic Systems (DARS’24), 2024.
[1]
T. Siemensma, D. Chiu, S. Ramshanker, R. Nagpal, and B. Haghighat, “Collective Bayesian Decision-Making in a Swarm of Miniaturized Robots for Surface Inspection”, in 14th International Conference on Swarm Intelligence (ANTS), 2024.

2023

2022

[1]
F. Berlinger, J. Ebert, and R. Nagpal, “Impressionist Algorithms for Autonomous Multi-Robot Systems: Flocking As a Case Study”, in IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
[1]
J. Ebert, F. Berlinger, B. Haghighat, and R. Nagpal, “A Hybrid PSO Algorithm for Multi-Robot Target Search and Decision Awareness”, in IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
[1]
[1]
E. Gonzalez, L. Houel, R. Nagpal, and M. Malley, “Influencing Emergent Self-Assembled Structures in Robotic Collectives Through Traffic Control”, in Intl Conf. on Autonomous Agents and Multiagent Systems (AAMAS), 2022.
[1]
H. McCreery, G. Gemayal, A. Pais, S. Garnier, and R. Nagpal, “Hysteresis stabilizes dynamic control of self-assembled army ant constructions”, Nature Communications, vol. 13, no. 1660, 2022, [Online]. Available: Open Access: Hysteresis stabilizes dynamic control of self-assembled army ant constructions

2021

[1]
F. Berlinger, M. Gauci, and R. Nagpal, “Implicit coordination for 3D underwater collective behaviors in a fish-inspired robot swarm”, Science Robotics, vol. 6, no. 50, 2021.
[1]
F. Berlinger, P. Wulkop, and R. Nagpal, “Self-Organized Evasive Fountain Maneuvers with a Bio-inspired Underwater Robot Collective”, in Intl. Conference on Automation and Robotics (ICRA), 2021.
[1]
F. Berlinger, “Blueswarm: 3D Self-organization in a Fish-inspired Robot Swarm”, PhD Thesis, Harvard University, 2021.
[1]
F. Berlinger, M. Saadat, H. Haj-Hariri, G. Lauder V, and R. Nagpal, “Fish-like three-dimensional swimming with an autonomous, multi-fin, and biomimetic robot”, Bioinspiration & Biomimetics, vol. 16, no. 2, 2021, [Online]. Available: Open Access: Fish-like three-dimensional swimming with an autonomous, multi-fin, and biomimetic robot
[1]
N. Carey, P. Bardunias, R. Nagpal, and J. Werfel, “Validating a termite-inspired construction coordination mechanism using an autonomous robot”, Frontiers in Robotics and AI, 2021.
[1]
M. Saadat, F. Berlinger, A. Sheshmani, R. Nagpal, G. Lauder V, and H. Haj-Hariri, “Hydrodynamic advantages of in-line schooling”, Bioinspiration & Biomimetics, vol. 16, no. 4, 2021, [Online]. Available: Open Access: Hydrodynamic advantages of in-line schooling

2020

[1]
P. Bardunias et al., “The extension of internal humidity levels beyond the soil surface facilitates mound expansion in Macrotermes”, Proceedings of the Royal Society B: Biological Science, vol. 287, no. 1930, 2020.
[1]
M. Duduta, F. Berlinger, R. Nagpal, D. Clarke, R. Wood, and Z. Temel, “Tunable Multi-Modal Locomotion in Soft Dielectric Elastomer Robots”, IEEE Robotics and Automation Letters (RAL), 2020.
[1]
J. Ebert, M. Gauci, F. Mallmann-Trenn, and R. Nagpal, “Bayes Bots: Collective Bayesian Decision-Making in Decentralized Robot Swarms”, Intl. Conference on Robotics and Automation (ICRA). 2020.
[1]
M. Malley, B. Haghighat, L. Houel, and R. Nagpal, “Eciton robotica: Design and Algorithms for an Adaptive Self-Assembling Soft Robot Collective”, Intl. Conferenc on Robotics and Automation (ICRA). 2020.
[1]
M. Malley, “Army Ant Inspired Adaptive Self-Assembly with Soft Climbing Robots”, PhD Thesis, Harvard University, 2020.

2019

[1]
K. Binney, “Teach a Fish to Swim: Evaluating the Ability of Turing Learning to Infer Schooling Behavior”, Bachelor’s Thesis, Harvard University, 2019.
[1]
D. Calovi, P. Bardunias, N. Carey, S. Turner, R. Nagpal, and J. Werfel, “Surface curvature guides early construction activity in mound-building termites”, Philosophical Transactions of the Royal Society, vol. 374, no. 1774, 2019, [Online]. Available: Open Access: Surface curvature guides early construction activity in mound-building termites
[1]
M. Duduta, F. Berlinger, R. Nagpal, D. Clarke, R. Wood, and Z. Temel, “Electrically-latched compliant jumping mechanism based on a dielectric elastomer actuator”, Smart Materials and Structures, vol. 28, no. 09LT01, 2019.
[1]
L. Houel, “Self-assembly of soft-robots in simulation inspired by army ant bridge behavior”, Master’s Thesis, EPFL Switzerland, 2019.
[1]
H. McCreery, J. Bilek, R. Nagpal, and M. Breed, “Effects of load mass and size on cooperative transport in ants over multiple transport challenges”, Journal of Experimental Biology, vol. doi: 10.1242/jeb.206821, 2019, [Online]. Available: Open Access: Effects of load mass and size on cooperative transport in ants over multiple transport challenges

2018

[1]
F. Berlinger, M. Duduta, H. Gloria, D. Clarke, R. Nagpal, and R. Wood, “A Modular Dielectric Elastomer Actuator to Drive Miniature Autonomous Underwater Vehicles”, in Intl. Conf. on Robotics and Automation (ICRA), 2018.
[1]
J. Ebert, M. Gauci, and R. Nagpal, “Multi-Feature Collective Decision Making in Robot Swarms”, in Intl. Conf. on Autonomous Agents and Multiagent Systems (AAMAS), 2018.
[1]
K. Soltan, J. O’Brien, F. Berlinger, R. Nagpal, and J. Dusek, “A Biomimetic Actuation Method for a Miniature, Low-Cost Multi-jointed Robotic Fish”, in IEEE OCEANS conference, 2018.

2017

[1]
F. Berlinger, J. Dusek, M. Gauci, and R. Nagpal, “Robust Maneuverability of a Miniature Low-Cost Underwater Robot using Multiple Fin Actuation”, IEEE Robotics and Automation Letters (RA-L), vol. PP, no. 99, 2017.
[1]
S. Booth, J. Tompkins, H. Pfister, J. Waldo, K. Gajos, and R. Nagpal, “Piggybacking Robots: Human-Robot Overtrust in University Dormitory Security”, in ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2017.
[1]
N. Carey, R. Nagpal, and J. Werfel, “Fast, accurate, small-scale 3D scene capture using a low-cost depth sensor”, in IEEE Winter Conference on Applications of Computer Vision (WACV), 2017.
[1]
E. E. Esterley, H. McCreery, and R. Nagpal, “Models of Adaptive Navigation, Inspired by Ant Cooperative Transport in the Presence of Obstacles”, in IEEE Artificial Life Conference (ALIFE), 2017.
[1]
M. Gauci, M. Ortiz, M. Rubenstein, and R. Nagpal, “Error Cascades in Collective Behavior: A Case Study of the Gradient Algorithm on 1000 Physical Agents”, in 16th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2017.
[1]
B. Green, P. Bardunias, S. Turner, R. Nagpal, and J. Werfel, “Excavation and aggregation as organizing factors in de novo construction by mound-building termites”, Proceedings of the Royal Society B, vol. 284, no. 1856, 2017, [Online]. Available: Open Access: Excavation and aggregation as organizing factors in de novo construction by mound-building termites
[1]
M. Malley, M. Rubenstein, and R. Nagpal, “Flippy: A Soft, Autonomous Climber with Simple Sensing and Control”, in IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS), 2017.
[1]
K. Petersen and R. Nagpal, “Complex Design by Simple Robots: A Collective Embodied Intelligence Approach to Construction”, Architectural Design, Special Issue: Autonomous Assembly: Designing for a New Era of Collective Construction, vol. 87, no. 4, pp. 44–49, 2017.

2016

[1]
M. Gauci, R. Nagpal, and M. Rubenstein, “Programmable Self-Disassembly for Shape Formation in Large-Scale Robot Collectives”, in 13th International Symposium on Distributed Autonomous Robotic Systems (DARS), 2016.
[1]
H. F. McCreery, Z. A. Dix, M. D. Breed, and R. Nagpal, “Collective strategy for obstacle navigation during cooperative transport by ants”, Journal of Experimental Biology, vol. 219, no. 21, pp. 3366–3375, 2016, [Online]. Available: Open Access: Collective strategy for obstacle navigation during cooperative transport by ants

2015

[1]
J. Budd, “Seaturtle: A low-cost underwater Robot”, ES100 Senior Capstone Project, Harvard University, 2015.
[1]
L. Cucu, M. Rubenstein, and R. Nagpal, “Towards Self-assembled Structures with Mobile Climbing Robots”, in Intl. Conference on Robotics and Automation (ICRA), 2015.
[1]
M. Rubenstein, B. Cimino, R. Nagpal, and J. Werfel, “AERobot: An Affordable One-Robot-Per-Student System for Early Robotics Education”, in Intl. Conference on Robotics and Automation (ICRA), 2015.

2014

[1]
A. Cornejo and R. Nagpal, “Distributed Range-Based Relative Localization of Robot Swarms”, in Intl. Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014. [Online]. Available: Referenced from ssr.seas.harvard.edu: Distributed Range-Based Relative Localization of Robot Swarms
[1]
A. Cornejo, A. Dornhaus, N. Lynch, and R. Nagpal, “Task Allocation in Ant Colonies”, in Intl. Symposium on Distributed Computing (DISC), 2014.
[1]
L. Cucu, “Towards Self-Assembled Structures with Mobile Climbing Robots”, Master’s Thesis, EPFL Switzerland, 2014.
[1]
R. Moore, K. Dantu, G. Barrows, and R. Nagpal, “Autonomous MAV guidance with a lightweight omnidirectional vision sensor”, in IEEE Intl. Conf on Robotics and Automation (ICRA), 2014.
[1]
N. Napp and R. Nagpal, “Robotic Construction of Arbitrary Shapes with Amorphous Materials”, in IEEE Intl. Conf on Robotics and Automation (ICRA), 2014.