Publications

2014
Nils Napp and Radhika Nagpal. 2014. “Robotic Construction of Arbitrary Shapes with Amorphous Materials.” In IEEE Intl. Conf on Robotics and Automation (ICRA). (pdf)
Nils Napp, Brandon Araki, Michael T. Tolley, Radhika Nagpal, and Robert J. Wood. 2014. “Simple Passive Valves for Addressable Pneumatic Actuation.” In IEEE Intl. Conf on Robotics and Automation (ICRA). (pdf)
Alex Cornejo, Anna Dornhaus, Nancy Lynch, and Radhika Nagpal. 2014. “Task Allocation in Ant Colonies.” In Intl. Symposium on Distributed Computing (DISC). (pdf)Abstract
In this paper we propose a mathematical model for studying the phenomenon of division of labor in ant colonies. Inside this model we investigate how simple task allocation mechanisms can be used to achieve an optimal division of labor. We believe the proposed model captures the essential biological features of division of labor in ant colonies and is general enough to study a variety of different task allocation mechanisms. Within this model we propose a distributed randomized algorithm for task allocation that imposes only minimal requirements on the ants; it uses a constant amount of memory and relies solely on a primitive binary feedback function to sense the current labor allocation. We show that with high probability the proposed algorithm converges to a near-optimal division of labor in time which is proportional to the logarithm of the colony size.
Lucian Cucu. 2014. “Towards Self-Assembled Structures with Mobile Climbing Robots.” Master's Thesis, EPFL. (pdf)
2013
Mike Rubenstein, Adrian Cabrera, Justin Werfel, Golnaz Habibi, James McLurkin, and Radhika Nagpal. 2013. “Collective Transport of Complex Objects by Simple Robots: Theory and Experiments.” In Intl. Conf. on Autonomous Agents and Multiagent Systems (AAMAS). (pdf)
Sabine Hauert, Spring Berman, Radhika Nagpal, and Sangeeta N. Bhatia. 2013. “A computational framework for identifying design guidelines to increase the penetration of targeted nanoparticles into tumors.” Nano Today. (pdf)
Robert Wood, Radhika Nagpal, and Gu-Yeon Wei. 2013. “Flight of the Robobees.” Scientific American. sciam2013-robobee.pdf
Aaron Becker, Golnaz Habibi, Justin Werfel, Michael Rubenstein, and James McLurkin. 2013. “Massive Uniform Manipulation: Controlling Large Populations of Simple Robots With a Common Input Signal.” In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS). (pdf)
Nils Napp and Ryan Adams. 2013. “Message Passing Inference with Chemical Reaction Networks.” In Advances in Neural Information Processing Systems (NIPS). (pdf)
2012
Yong-Lae Park, Bor-Rong Chen, Carmel Majidi, Rob Wood, Radhika Nagpal, and Eugene Goldfield. 2012. “Active Modular Elastomer Sleeve for Soft Wearable Assistance Robots.” In IEEE Intl. Conference on Robots and Systems (IROS). (pdf)
Adrian Cabrera. 2012. “Collective Transport in Large Swarms of Simple Robots.” Master's Thesis, EPFL. (pdf)
Karthik Dantu, Spring Berman, Bryan Kate, and Radhika Nagpal. 2012. “A Comparison of Deterministic and Stochastic Approaches for Allocating Spatially Dependent Tasks in Micro-Aerial Vehicle Collectives.” In IEEE Intl. Conference on Robots and Systems (IROS). (pdf)
Nils Napp and Radhika Nagpal. 2012. “Distributed Amorphous Ramp Construction in Unstructured Environments.” In Symposium on Distributed Autonomous Robotic Systems (DARS). (pdf)
Michael Rubenstein, Christian Ahler, and Radhika Nagpal. 2012. “Kilobot: A Low Cost Scalable Robot System for Collective Behaviors.” In IEEE Intl. Conf on Robotics and Automation (ICRA). (pdf)
Nils Napp, Olive Rappoli, Jessica Wu, and Radhika Nagpal. 2012. “Materials and Mechanisms for Amorphous Robotic Construction.” In IEEE Intl. Conference on Robots and Systems (IROS). (pdf)
Bryan Kate, Jason Waterman, Karthik Dantu, and Matt Welsh. 2012. “Simbeeotic: A Simulator and Testbed for Micro-Aerial Vehicle Swarm Experiments.” In Intl. Conf. on Information Processing in Sensor Networks (IPSN). (pdf)
2011
William Tyler Gibson, J. Veldhuis, B. Rubinstein, H. Cartwright, N. Perrimon, W. Brodland, Radhika Nagpal, and Matthew C. Gibson. 2011. “Control of the Mitotic Cleavage Plane by Local Epithelial Topology.” Cell, 144, 3, Pp. 414-426.
Justin Werfel, Kirstin Petersen, and Radhika Nagpal. 2011. “Distributed Multi-Robot Algorithms for the TERMES 3D Collective Construction System.” In Modular Robotics Workshop, Intl. Conference on Robots and Systems (IROS). Publisher's Version
Nicholas Hoff, Robert Wood, and Radhika Nagpal. 2011. “Effect of Sensor and Actuator Quality on Robot Swarm Algorithm Performance.” In Intl. Conference on Robots and Systems (IROS). Publisher's Version
Nicholas Hoff. 2011. “Multi-Robot Foraging for Swarms of Simple Robots.” Doctoral Thesis, Harvard University. Publisher's Version

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