Technical Program

All events, unless otherwise noted, will take place in the “Aspen Room” on the ground floor of the Universal Memorial Center at the corner of Broadway and Euclid Avenue.

Sunday, October 14, 2018


17:00 Welcome Reception at “The Riverside”

Join us for drinks and heavy hors d’oeuvres
1724 Broadway, Boulder, CO 80302, USA


Monday, October 15, 2018

8:50 Introduction to the 14th Int. Symp. on DARS

Nikolaus Correll (University of Colorado at Boulder); Mac Schwager (Stanford University)

9:00 Keynote

Eric Frew (University of Colorado at Boulder)


Coffee Break


Session 1: Formation control, rendezvous and consensus

Session Chair: Amanda Prorok (Cambridge University)


10:10 *Resilient Backbones in Hexagonal Robot Formations

David Saldaña (University of Pennsylvania)*; Luis Guerrero-Bonilla (University of Pennsylvania); Vijay Kumar (University of Pennsylvania)

10:30 Teleoperation of a Multi-Robot System with Adjustable Dynamic

Lorenzo Sabattini (University of Modena and Reggio Emilia)*; Cesare Fantuzzi (University of Modena and Reggio Emilia); Cristian Secchi (University of Modena and Reggio Emilia)

10:50 Cooperative dynamic domain reduction

Aaron Ma (University of California, San Diego)*; Jorge Cortes (University of California, San Diego); Mike Ouimet (Spawar)


Coffee Break

Session 2: Task assignment and teaming

Session Chair: David Saldaña (University of Pennsylvania)


11:30 *Redundant Robot Assignment on Graphs with Uncertain Edge Costs

Amanda Prorok (University of Cambridge)*

11:50 Recruitment-Based Robotic Colony Allocation

Chloe Fleming (Oregon State University)*; Julie A. Adams (Oregon State University)

12:10 Bio-Inspired Role Allocation of Heterogeneous Teams in a Site Defense

Laura G Strickland (Georgia Tech Research Institute)*; Kaitlin Baudier (Arizona State University); Kenneth P Bowers (Georgia Tech Research Institute); Theodore P Pavlic (Arizona State University); Charles Pippin (Georgia Tech Research Institute)


Lunch at C4C

Find your way to the “Center for Community”. You will find two swipe cards with one meal each (Monday and Wednesday) in your bag. Tuesday’s lunch will be served in the Aspen room.


Poster Spotlights

Session Chair: Lorenzo Sabattini (University of Modena and Reggio Emilia)


2:00 Distributed Reinforcement Learning for Multi-Robot Decentralized
Collective Construction

Guillaume A Sartoretti (Carnegie Mellon University)*; Yue Wu (Carnegie Mellon University); William Paivine (Carnegie Mellon University); T. K. Satish Kumar (University of Southern California); Sven Koenig (University of Southern California); Howie Choset (Carnegie Mellon University)

2:05 The Computational Complexity of Controller-Environment Co-design
using Library Selection for Distributed Construction

Mesam Timmar (Memorial University of Newfoundland)*; Todd Wareham (Memorial University of Newfoundland)

2:10 Multi-objective Optimization of Confidence-based Localization in
Large-scale Underwater Robotic Swarms

Adham Sabra (Robert Gordon University)*; Wai-keung Fung (Robert Gordon University); Philip Churn (Robert Gordon University)

2:15 Simulating Collaborative Robots in a Massive Multi-Agent Game
Environment (SCRIMMAGE)

Kevin J DeMarco (Georgia Tech Research Institute)*; Eric Squires (Georgia Tech Research Institute); Michael Day (Georgia Tech Research Institute); Charles Pippin (Georgia Tech Research Institute)

2:20 Adaptive Path Formation in Self-Assembling Robot Swarms by Tree-like
Vascular Morphogenesis

Mohammad Divband Soorati (University of Lübeck)*; Payam Zahadat (University of Graz); Javad Ghofrani (Dresden University of Applied Sciences); Heiko Hamann (University of Lübeck)

2:25 Object Transportation by Swarm Robots based on Constraint Granular

Ken Sugawara (Tohoku Gakuin University)*

2:30 Hierarchical Design of Highway Merging Controller using Navigation
Vector Fields under Bounded Sensing Uncertainty

Lixing Huang (University of Michigan)*; Dimitra Panagou (University of Michigan)

2:35 Taking Turns in Complete Coverage for Multiple Robots

Lee-or Alon (Bar Ilan University)*; Noa Agmon (Bar-Ilan University); Gal Kaminka (Bar-Ilan University)

2:40 Synchronous Rendezvous for Networks of Active Drifters in Gyre Flows

Cong Wei (University of Delaware); Xi Yu (University of Pennsylvania)*; Herbert G Tanner (University of Delaware); M. Ani Hsieh (University of Pennsylvania)

2:45 Bio-Inspired Position Control of Satellite Constellations

Mike Rubenstein (Northwestern University)*; Zachary Manchester (Stanford University)

2:50 Online Update of Communication Maps for Exploring Multirobot Systems
Under Connectivity Constraints

Francesco Amigoni (Politecnico di Milano)*; Jacopo Banfi (Università degli Studi di Milano); Nicola Basilico (Università degli Studi di Milano); Ioannis Rekleitis (University of South Carolina); Alberto Quattrini Li (Dartmouth College)


Poster Session

3:00-5:00 Present your poster, discuss, mingle, and enjoy coffee and cake with your
Colleagues. Poster easels to hold posters up to 61 cm wide and 91 cm high will
be provided.


Social: Pearl Street Mall pub crawl

6:00 Meet at the intersection of Pearl Street and Broadway and explore from there
(on your own).


Tuesday, October 16, 2018

9:00 Keynote

John Ousterhout (Stanford University)

Coffee Break


Session 3: Multi-robot motion planning

Session Chair: Guillaume Sartoretti (Carnegie Mellon University)


10:10 Game Theoretic Motion Planning for Multi-Robot Racing

Zijian Wang (Stanford University)*; Riccardo Spica (Stanford University); Mac Schwager (Stanford, USA)

10:30 Robust Trajectory Execution for Multi-Robot Teams Using Distributed
Real-time Replanning

Baskın B Şenbaşlar (University of Southern California)*; Wolfgang Hoenig (University of Southern California); Nora Ayanian (University of Southern California)

10:50 Multi-Agent Coordination Subject to Counting Constraints: A Hierarchical

Yunus E Sahin (University of Michigan)*; Necmiye Ozay (University of Michigan); Stavros Tripakis (Aalto University)


Coffee Break

Session 4: Pursuit evasion and swarming

Session chair: Elizabeth Jensen (St. Olaf College)


11:30 Indoor Pursuit-Evasion with Hybrid Hierarchical Partially Observable Markov
Decision Processes for Multi-Robot Systems

Sha Yi (Carnegie Mellon University)*; Changjoo Nam (Carnegie Mellon University); Katia Sycara (Carnegie Mellon University)

10:50 Multi-Agent Cooperative Pursuit-Evasion Strategies Under Uncertainty

Kunal Shah (Stanford University )*; Mac Schwager (Stanford, USA)

12:10 *SpinBot: An Autonomous, Externally Actuated Robot for Swarm

Andrew SaLoutos (Northwestern University)*; Mike Rubenstein (NWU)


Lunch in the Aspen room

Social: Hike in Chautauqua

Bus service provided at 2.30pm (outside the UMC) to Chautauqua park with guided tour followed by a reception at the “Dining Hall” (900 Baseline Rd, Boulder, CO) at 5pm. Buses return to the conference location at 6.30pm.


Wednesday, October 17, 2018

9:00 Keynote

Julien Bourgeois (Université de Franche-Comté / CNRS FEMTO-ST)


Coffee Break


Session 5: Communication and control

Session Chair: Alberto Quattrini Li (Dartmouth College)


10:10 *Stop, Think, and Roll: Online Gain Optimization for Resilient Multi-robot

Marco Minelli (University of Modena and Reggio Emilia); Marcel Kaufmann (Polytechnique Montréal); Jacopo Panerati (Polytechnique Montréal); Cinara Ghedini (Instituto Tecnológico de Aeronáutica); Giovanni Beltrame (Polytechnique de Montreal); Lorenzo Sabattini (University of Modena and Reggio Emilia)*

10:30 Trust-based Information Propagation on Multi-robot Teams in Noisy
Low-communication Environments

Kenneth P Bowers (Georgia Tech Research Institute)*; Laura G Strickland (Georgia Tech Research Institute); Gregory Cooke (Georgia Tech Research Institute); Charles Pippin (Georgia Tech Research Institute); Theodore P Pavlic (Arizona State University)


10:50 Effects of Communication Restriction on Online Multi-Robot Exploration in
Bounded Environments

Elizabeth A. Jensen (University of Minnesota)*; Maria Gini (University of Minnesota)


Coffee Break

Session 6: Cooperative estimation

Session Chair: Giovanni Beltrame, Polytechnique de Montreal


11:30 Fault-Tolerant Covariance Intersection for Localizing Robot Swarms

John Klingner (University of Colorado, USA)*; Nisar R Ahmed (University of Colorado Boulder); Nikolaus Correll (University of Colorado)

11:50 *Time Efficient Inspection of Ground Vehicles by a UAV Team Using a
Markov Inequality Based Rule

Alexey Munishkin (University of California, Santa Cruz); Dejan Milutinovic (University of California, Santa Cruz)*; David Casbeer (Air Force Research Laboratory)

12:10 Consensus Control of Distributed Robots using Direction of Arrival of
Wireless Signals

Ramviyas Parasuraman (University of Georgia Athens)*; Byung-Cheol Min (Purdue University)


Lunch at C4C


Session 7: Self-assembly

Session Chair: Benoît Piranda (Université  Bourgogne-Franche Comté, CNRS FEMTO-ST)

2:00 *Scalable Compiler for the TERMES Distributed Assembly System

Yawen Deng (Cornell University); Yiwen Hua (Cornell University); Nils Napp (University at Buffalo); Kirstin Petersen (Cornell University)

2:20 Design and Calibration of Physics-Based Models for Fluid-Mediated
Programmable Self-Assembly of Robotic Modules

Bahar Haghighat (École Polytechnique Fédérale de Lausanne (EPFL),*; Hala Khodr (EPFL); Alcherio Martinoli (EPFL)

2:40 Self-Assembly in Patterns with Minimal Surprise: Engineered
Self-Organization and Adaptation to the Environment

Tanja Katharina Kaiser (University of Lübeck)*; Heiko Hamann (University of Lübeck)

3:00 Landmark-Guided Shape Formation by a Swarm of Robots

Andrew Vardy ( Memorial University of Newfoundland)*


Coffee Break


Session 8: Modular robotics and programmable matter

Session Chair: Kirstin Petersen (Cornell University)


3:40 Distributed Tunneling Reconfiguration of Sliding Cubic Modular Robots in
Severe Space Requirements

Hiroshi Kawano (NTT Corporation)*

4:00 Molding a Shape-Memory Polymer with Programmable Matter

Florian Pescher (UBFC, FEMTO-ST CNRS)*; Benoit Piranda (UBFC, FEMTO-ST CNRS); Stephane Delalande (Groupe PSA); Julien Bourgeois (UBFC, FEMTO-ST, CNRS)

4:20 Autonomous Multi-Material Construction with a Heterogeneous Robot Team

Maira Saboia da Silva (University at Buffalo)*; Vivek Thangavelu (University at Buffalo); Nils Napp (University at Buffalo)


4.40 Farewell note and announcement of DARS 2020

Hajime Asama, Professor, University of Tokyo
Chair of the DARS advisory board


Social: Banquet and award ceremony

Banquet and award ceremony at the “Flagstaff House”. Buses will leave at 6pm at the conference venue. Semi-formal attire is encouraged to honor your peers, the event, and the excellent food we will be having.


* Papers marked with a “*” have been nominated for a “Best Paper” or “Best Student Paper” award. The winners have been selected by the award committee during the committee:

Best Student Paper: Yawen Deng, Yiwen Hua, Nils Napp, and Kirstin Petersen: Scalable Compiler for the TERMES Distributed Assembly System

Best Paper: Amanda Prorok. Redundant Robot Assignment on Graphs with Uncertain Edge Costs