Research

My research focuses on the coordination and control of multi-robot systems. Click on the links below for more details on specific projects.

Trust and Cooperation in Autonomous Driving

Distributed Target Tracking in Cluttered Environments

Adapting to Performance Variations in Multi-Robot Coverage Control

Bio-Inspired Non-Cooperative Multi-Robot Herding

Cooperative Multi-Quadrotor Pursuit of an Evader in an Environment with No-Fly Zones (Best Conference Paper Finalist, ICRA 2016)

Intercepting Rogue Robots: An Algorithm for Capturing Multiple Evaders with Multiple Pursuers

Dynamics of a Pigeon Turning in Flight [HMC]

Publications

Robots

  • A. Pierson and M. Schwager, “Controlling Non-Cooperative Herds with Robotic Herders,” Transactions on Robotics (T-RO), 2018, vol. 34, no. 2. [pdf]
  • A. Pierson, Z. Wang, and M. Schwager, “Intercepting Rogue Robots: An Algorithm for Capturing Multiple Evaders with Multiple Pursuers,” IEEE Robotics and Automation Letters (RA-L) with joint ICRA option, 2017, vol. 2, no. 2. [pdf]
  • A. Pierson, L. Figueiredo, L. Pimenta, and M. Schwager, “Adapting to Sensing and Actuation Variations in Multi-Robot Coverage,” International Journal of Robotics Research, 2017, vol. 36, issue 3. [pdf]

 

  • A. Pierson, W. Schwarting, S. Karaman, and D. Rus, “Navigating Congested Environments with Risk  Level Sets,” In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 2018. [pdf]
  • A. Pierson and D. Rus, “Distributed Target Tracking in Cluttered Environments with Guaranteed Collision Avoidance,” International Symposium on Multi-Robot and Multi-Agent Systems (MRS), Dec 2017. [pdf]
  • A. Pierson, A. Ataei, I. Paschalidis, and M. Schwager, “Cooperative Multi-Quadrotor Pursuit of an Evader in an Environment with No-Fly Zones,” In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 2016. Best Conference Paper Finalist. [pdf]
  • A. Pierson and M. Schwager, “Bio-Inspired Non-Cooperative Multi-Robot Herding,” In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 2015. [pdf]
  • A. Pierson, L. Figueiredo, L. Pimenta, and M. Schwager, “Adapting to Performance Variations in Multi-Robot Coverage,” In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 2015. [pdf]
  • A. Pierson and M. Schwager, “Adaptive Inter-Robot Trust for Robust Multi-Robot Sensor Coverage,” In Proceedings of the International Symposium of Robotics Research (ISRR 13), December 2013. [pdf]

Pigeons

  • I. Ros, M. Badger, A. Pierson, L. Bassman, A. Biewener, “Pigeons produce aerodynamic torques through changes in wing trajectory during low speed aerial turns,” Journal of Experimental Biology, December, 2014, vol. 218, no. 3, pp. 480-490.
  • I. Ros, M. Badger, A. Pierson, L. Bassman, A. Biewener, “Translational and Rotational Components of Low Speed Turning in the Pigeon Columba livia,” Integrative and Comparative Biology, 2011, vol. 51.
  • I. Ros, L. Bassman, M. Badger, A. Pierson, A. Biewener, “Pigeons steer like helicopters and generate down-and upstroke lift during low speed turns,” Proceedings of the National Academy of Sciences, December, 2011, vol. 108, no. 50, pp. 19990-19995.

Presentations

In addition to conference paper talks, I have given the following public presentations:

  • “Controlling Non-Cooperative Herds with Robotic Herders,” invited talk, ICRA 2018 workshop Swarms: From Biology to Robotics and Back, May 2018
  • “Intercepting Rogue Robots: An Algorithm for Capturing Multiple Evaders with Multiple Pursuers,” presentation at MIT Robocon, Feb 2017
  • “Analysis of Multi-Agent Systems Under Varying Degrees of Trust, Cooperation, and Competition,” Distributed Robotics Lab, MIT, Dec 2016.
  • “Adaptive Trust in Multi-Robot Coverage Control,” poster presentation at the Northeastern Robotics Colloquium, Oct 2013
  • “Adaptive Trust in Multi-Robot Systems,” presentation at Networked Multi-Agent Systems Workshop, Intl. Conf. on Robotics and Automation, May 2013