All Publications

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. Distributed Decision-making Algorithms for Inspection by Autonomous Robot Collectives. PhD Thesis, School of Engineering and Applied Sciences (CS), Harvard University. 2022.
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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.
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.
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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.

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).
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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.
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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;.
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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.
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
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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).

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
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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.
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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.
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.
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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.

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.

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.
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
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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