131 Publications
Forthcoming
[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.
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]
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
[1]
H. Ko, G. Lauder, and R. Nagpal, “The role of hydrodynamics in collective motions of fish schools and bioinspired underwater robots”, Journal of the Royal Society, Interface, vol. 20, no. 207, p. 20230357, 2023, [Online]. Available: Open Access (Cover article): The role of hydrodynamics in collective motions of fish schools and bioinspired underwater robots
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]
J. Ebert, “Distributed Decision-making Algorithms for Inspection by Autonomous Robot Collectives”, PhD Thesis, Harvard University, 2022.
[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]
B. Haghighat 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]
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.
[1]
T. Radeva, A. Dornhaus, N. Lynch, R. Nagpal, and H.-H. Su, “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, vol. 13, no. 12, 2017, [Online]. Available: Open Access: Costs of task allocation with local feedback: Effects of colony size and extra workers in social insects and other multi-agent systems
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]
K. Petersen, P. Bardunias, N. Napp, J. Werfel, R. Nagpal, and S. Turner, “Arrestant property of recently manipulated soil on Macrotermes michaelseni as determined through visual tracking and automatic labeling of individual termite behaviors”, Behavioural Processes, vol. 116, pp. 8–11, 2015, [Online]. Available: Open Access: Arrestant property of recently manipulated soil on Macrotermes michaelseni as determined through visual tracking and automatic labeling of individual termite behaviors
[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.