128 Publications
2024
1.
Chiu D, Nagpal R, Haghighat B. Optimization and Evaluation of a Multi Robot Surface Inspection Task Through Particle Swarm Optimization. In: IEEE International Conference on Robotics and Automation (ICRA). 2024.
2023
1.
Ko H, Lauder G, Nagpal R. The role of hydrodynamics in collective motions of fish schools and bioinspired underwater robots. Journal of the Royal Society, Interface. 2023;20(207):20230357.
2022
1.
Berlinger F, Ebert J, Nagpal R. Impressionist Algorithms for Autonomous Multi-Robot Systems: Flocking As a Case Study. In: IEEE RSJ International Conference on Intelligent Robots and Systems (IROS). Kyoto, Japan; 2022.
1.
Ebert J, Berlinger F, Haghighat B, Nagpal R. A Hybrid PSO Algorithm for Multi-Robot Target Search and Decision Awareness. In: IEEE RSJ International Conference on Intelligent Robots and Systems (IROS). Kyoto, Japan; 2022.
1.
Ebert J. Distributed Decision-making Algorithms for Inspection by Autonomous Robot Collectives. PhD Thesis, School of Engineering and Applied Sciences (CS), Harvard University. 2022.
1.
Gonzalez E, Houel L, Nagpal R, Malley M. Influencing Emergent Self-Assembled Structures in Robotic Collectives Through Traffic Control. In: Intl Conf. on Autonomous Agents and Multiagent Systems (AAMAS). 2022.
1.
Haghighat B, Boghaert J, Minsky-Primus Z, Ebert J, Liu F, swarm MNIC on SI (Swarm robotics and, et al. An Approach Based on Particle Swarm Optimization for Inspection of Spacecraft Hulls by a Swarm of Miniaturized Robots. In: Intl. Conf. on Swarm Intelligence (ANTS). 2022.
1.
McCreery H, Gemayal G, Pais A, Garnier S, Nagpal R. Hysteresis stabilizes dynamic control of self-assembled army ant constructions. Nature Communications [Internet]. 2022;13(1660). Available from: Referenced from www.nature.com: Hysteresis stabilizes dynamic control of self-assembled army ant constructions
2021
1.
Berlinger F, Gauci M, Nagpal R. Implicit coordination for 3D underwater collective behaviors in a fish-inspired robot swarm. Science Robotics. 2021;6(50).
1.
Berlinger F, Wulkop P, Nagpal R. Self-Organized Evasive Fountain Maneuvers with a Bio-inspired Underwater Robot Collective. In: Intl. Conference on Automation and Robotics (ICRA). 2021.
1.
Berlinger F. Blueswarm: 3D Self-organization in a Fish-inspired Robot Swarm. PhD Thesis, School of Engineering and Applied Sciences (CS), Harvard University. 2021.
1.
Berlinger F, Saadat M, Haj-Hariri H, Lauder G V, Nagpal R. Fish-like three-dimensional swimming with an autonomous, multi-fin, and biomimetic robot. Bioinspiration & Biomimetics [Internet]. 2021;16(2). Available from: Referenced from dx.doi.org: Fish-like three-dimensional swimming with an autonomous, multi-fin, and biomimetic robot
1.
Carey N, Bardunias P, Nagpal R, Werfel J. Validating a termite-inspired construction coordination mechanism using an autonomous robot. Frontiers in Robotics and AI. 2021;.
1.
Saadat M, Berlinger F, Sheshmani A, Nagpal R, Lauder G V, Haj-Hariri H. Hydrodynamic advantages of in-line schooling. Bioinspiration & Biomimetics [Internet]. 2021;16(4). Available from: Referenced from iopscience.iop.org: Hydrodynamic advantages of in-line schooling
2020
1.
Bardunias P, Calovi D, Carey N, Soar R, Turner S, Nagpal R, 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. 2020;287(1930).
1.
Duduta M, Berlinger F, Nagpal R, Clarke D, Wood R, Temel Z. Tunable Multi-Modal Locomotion in Soft Dielectric Elastomer Robots. IEEE Robotics and Automation Letters (RAL). 2020;.
1.
Ebert J, Gauci M, Mallmann-Trenn F, Nagpal R. Bayes Bots: Collective Bayesian Decision-Making in Decentralized Robot Swarms. Intl. Conference on Robotics and Automation (ICRA). 2020.
1.
Malley M, Haghighat B, Houel L, Nagpal R. Eciton robotica: Design and Algorithms for an Adaptive Self-Assembling Soft Robot Collective. Intl. Conferenc on Robotics and Automation (ICRA). 2020.
1.
Malley M. Army Ant Inspired Adaptive Self-Assembly with Soft Climbing Robots. PhD Thesis, School of Engineering and Apllied Sciences (Mech. Eng), Harvard University. 2020.
2019
1.
Binney K. Teach a Fish to Swim: Evaluating the Ability of Turing Learning to Infer Schooling Behavior. Senior Thesis, Harvard University. 2019.
1.
Calovi D, Bardunias P, Carey N, Turner S, Nagpal R, Werfel J. Surface curvature guides early construction activity in mound-building termites. Philosophical Transactions of the Royal Society [Internet]. 2019;374(1774). Available from: Referenced from royalsocietypublishing.org: Surface curvature guides early construction activity in mound-building termites
1.
Duduta M, Berlinger F, Nagpal R, Clarke D, Wood R, Temel Z. Electrically-latched compliant jumping mechanism based on a dielectric elastomer actuator. Smart Materials and Structures . 2019;28(09LT01).
1.
Houel L. Self-assembly of soft-robots in simulation inspired by army ant bridge behavior. EPFL Master’s Thesis. 2019.
1.
McCreery H, Bilek J, Nagpal R, Breed M. Effects of load mass and size on cooperative transport in ants over multiple transport challenges. Journal of Experimental Biology [Internet]. 2019;doi: 10.1242/jeb.206821. Available from: Referenced from jeb.biologists.org: Effects of load mass and size on cooperative transport in ants over multiple transport challenges
2018
1.
Berlinger F, Duduta M, Gloria H, Clarke D, Nagpal R, Wood R. A Modular Dielectric Elastomer Actuator to Drive Miniature Autonomous Underwater Vehicles. In: Intl. Conf. on Robotics and Automation (ICRA). 2018.
1.
Ebert J, Gauci M, Nagpal R. Multi-Feature Collective Decision Making in Robot Swarms. In: Intl. Conf. on Autonomous Agents and Multiagent Systems (AAMAS). 2018.
1.
Soltan K, O’Brien J, Berlinger F, Nagpal R, Dusek J. A Biomimetic Actuation Method for a Miniature, Low-Cost Multi-jointed Robotic Fish. In: IEEE OCEANS conference. 2018.
2017
1.
Berlinger F, Dusek J, Gauci M, Nagpal R. Robust Maneuverability of a Miniature Low-Cost Underwater Robot using Multiple Fin Actuation. IEEE Robotics and Automation Letters (RA-L). 2017;PP(99).
1.
Booth S, Tompkins J, Pfister H, Waldo J, Gajos K, Nagpal R. Piggybacking Robots: Human-Robot Overtrust in University Dormitory Security. In: ACM/IEEE International Conference on Human-Robot Interaction (HRI) [Internet]. 2017. Available from: Referenced from ssr.seas.harvard.edu: Piggybacking Robots: Human-Robot Overtrust in University Dormitory Security
1.
Carey N, Nagpal R, Werfel J. 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.
Esterley EE, McCreery H, Nagpal R. Models of Adaptive Navigation, Inspired by Ant Cooperative Transport in the Presence of Obstacles. In: IEEE Artificial Life Conference (ALIFE). 2017.
1.
Gauci M, Ortiz M, Rubenstein M, Nagpal R. 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.
Green B, Bardunias P, Turner S, Nagpal R, Werfel J. Excavation and aggregation as organizing factors in de novo construction by mound-building termites. Proceedings of the Royal Society B [Internet]. 2017;284(1856). Available from: Referenced from rspb.royalsocietypublishing.org: Excavation and aggregation as organizing factors in de novo construction by mound-building termites
1.
Malley M, Rubenstein M, Nagpal R. Flippy: A Soft, Autonomous Climber with Simple Sensing and Control. In: IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS). 2017.
1.
Petersen K, Nagpal R. 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. 2017;87(4):44-9.
1.
Radeva T, Dornhaus A, Lynch N, Nagpal R, Su HH. Costs of task allocation with local feedback: Effects of colony size and extra workers in social insects and other multi-agent systems. PLoS computational biology [Internet]. 2017;13(12). Available from: Referenced from journals.plos.org: Costs of task allocation with local feedback: Effects of colony size and extra workers in social insects and other multi-agent systems
2016
1.
Gauci M, Nagpal R, Rubenstein M. Programmable Self-Disassembly for Shape Formation in Large-Scale Robot Collectives. In: 13th International Symposium on Distributed Autonomous Robotic Systems (DARS). 2016.
1.
McCreery HF, Dix ZA, Breed MD, Nagpal R. Collective strategy for obstacle navigation during cooperative transport by ants. Journal of Experimental Biology [Internet]. 2016;219(21):3366-75. Available from: Referenced from jeb.biologists.org: Collective strategy for obstacle navigation during cooperative transport by ants
2015
1.
Budd J. Seaturtle: A low-cost underwater Robot [Internet]. ES100 Senior Capstone Project. 2015. Available from: Referenced from ssr.seas.harvard.edu: Seaturtle: A low-cost underwater Robot
1.
Cucu L, Rubenstein M, Nagpal R. Towards Self-assembled Structures with Mobile Climbing Robots. In: Intl. Conference on Robotics and Automation (ICRA) [Internet]. 2015. Available from: Referenced from ssr.seas.harvard.edu: Towards Self-assembled Structures with Mobile Climbing Robots
1.
Petersen K, Bardunias P, Napp N, Werfel J, Nagpal R, Turner S. Arrestant property of recently manipulated soil on Macrotermes michaelseni as determined through visual tracking and automatic labeling of individual termite behaviors. Behavioural Processes [Internet]. 2015;116:8-11. Available from: Referenced from www.sciencedirect.com: Arrestant property of recently manipulated soil on Macrotermes michaelseni as determined through visual tracking and automatic labeling of individual termite behaviors
1.
Rubenstein M, Cimino B, Nagpal R, Werfel J. AERobot: An Affordable One-Robot-Per-Student System for Early Robotics Education. In: Intl. Conference on Robotics and Automation (ICRA) [Internet]. 2015. Available from: Referenced from ssr.seas.harvard.edu: AERobot: An Affordable One-Robot-Per-Student System for Early Robotics Education
2014
1.
Cornejo A, Nagpal R. Distributed Range-Based Relative Localization of Robot Swarms. In: Intl. Workshop on the Algorithmic Foundations of Robotics (WAFR) [Internet]. 2014. Available from: Referenced from ssr.seas.harvard.edu: Distributed Range-Based Relative Localization of Robot Swarms
1.
Cornejo A, Dornhaus A, Lynch N, Nagpal R. Task Allocation in Ant Colonies. In: Intl. Symposium on Distributed Computing (DISC) [Internet]. 2014. Available from: Referenced from ssr.seas.harvard.edu: Task Allocation in Ant Colonies
1.
Cucu L. Towards Self-Assembled Structures with Mobile Climbing Robots [Internet]. Master’s Thesis, EPFL. 2014. Available from: Referenced from ssr.seas.harvard.edu: Towards Self-Assembled Structures with Mobile Climbing Robots
1.
Moore R, Dantu K, Barrows G, Nagpal R. Autonomous MAV guidance with a lightweight omnidirectional vision sensor. In: IEEE Intl. Conf on Robotics and Automation (ICRA) [Internet]. 2014. Available from: Referenced from ssr.seas.harvard.edu: Autonomous MAV guidance with a lightweight omnidirectional vision sensor
1.
Napp N, Nagpal R. Robotic Construction of Arbitrary Shapes with Amorphous Materials. In: IEEE Intl. Conf on Robotics and Automation (ICRA) [Internet]. 2014. Available from: Referenced from ssr.seas.harvard.edu: Robotic Construction of Arbitrary Shapes with Amorphous Materials
1.
Napp N, Araki B, Tolley MT, Nagpal R, Wood RJ. Simple Passive Valves for Addressable Pneumatic Actuation. In: IEEE Intl. Conf on Robotics and Automation (ICRA) [Internet]. 2014. Available from: Referenced from ssr.seas.harvard.edu: Simple Passive Valves for Addressable Pneumatic Actuation
1.
Park YL, Chen BR, Presez-Arancibia N, Young D, Stirling L, Wood R, et al. Design and control of a bio-inspired soft wearable robotic device for ankle-foot rehabilitation. Bioinspiration & Biomimetics [Internet]. 2014;9(1). Available from: Referenced from iopscience.iop.org: Design and control of a bio-inspired soft wearable robotic device for ankle-foot rehabilitation
1.
Petersen K. Collective Construction by Termite-Inspired Robots [Internet]. Doctoral Thesis, Harvard University. 2014. Available from: Referenced from ssr.seas.harvard.edu: Collective Construction by Termite-Inspired Robots