Publications

2022 July	Joint-Space CPG for Safe Foothold Planning and Body Pose Control during Locomotion and Climbing. Ge Sun and Guillaume Sartoretti. IEEE Robotics and Automation Letters.
2022 July	Keyframe-based CPG for Stable Gait Design and Online Transitions in Legged Robots. Scott Shaw and Guillaume Sartoretti. Accepted for Presentation at the IEEE Conference on Decision and Control (CDC 2022).
2022 July	Distributed Reinforcement Learning for Robot Teams: A Review. Yutong Wang, Mehul Damani, Pamela Wang, Yuhong Cao, and Guillaume Sartoretti. Conditionally Accepted to Springer's Current Robotics Reports.
2022 July	DAN: Decentralized Attention-based Neural Network to Solve the MinMax Multiple Traveling Salesman Problem. Yuhong Cao, Zhanhong Sun, and Guillaume Sartoretti. Submitted to the International Symposium on Distributed Autonomous Robotics Systems (DARS 2022).
2022 May	Multi-Agent Dynamic Ergodic Search with Low-Information Sensors. Howard Coffin, Ian Abraham, Guillaume Sartoretti, Tyler Dillstrom, and Howie Choset. IEEE International Conference on Robotics and Automation (ICRA).
2022 May	Multi-Agent Traffic Signal Control via Distributed RL with Spatial and Temporal Feature Extraction. Yifeng Zhang, Mehul Damani, and Guillaume Sartoretti. Proceedings of the International Workshop on Agent-Based Modelling of Urban Systems (ABMUS) @ AAMAS 2022.
2022 May	A general locomotion control framework for multi-legged locomotors. Baxi Chong, Yasemin Ozkan-Aydin, Jennifer Rieser, Guillaume Sartoretti, Tianyu Wang, Julian Whitman, Abdul Kaba, Enes Aydin, Ciera McFarland, Kelimar Diaz, and others. Bioinspiration \& Biomimetics 17(4).
2022 April	FCMNet: Full Communication Memory Net for Team-Level Cooperation in Multi-Agent Systems. Yutong Wang and Guillaume Sartoretti. Proceedings of the 21st International Conference on Autonomous Agents and Multiagent Systems.
2022 March	ForMIC: Foraging via Multiagent RL With Implicit Communication. Samuel Shaw, Emerson Wenzel, Alexis Walker, and Guillaume Sartoretti. IEEE Robotics and Automation Letters 7(2).
2021 June	Spectral-Based Distributed Ergodic Coverage for Heterogeneous Multi-Agent Search. Guillaume Sartoretti, Ananya Rao, and Howie Choset. 15th International Symposium on Distributed Autonomous Robotics Systems (DARS 2021). Best Paper Award.
2021 May	Autonomous Decentralized Shape-Based Navigation for Snake Robots in Dense Environments. Guillaume Sartoretti, Tianyu Wang, Gabriel Chuang, Qingyang Li, and Howie Choset. 2021 IEEE International Conference on Robotics and Automation (ICRA).
2021 May	Flatland competition 2020: MAPF and MARL for efficient train coordination on a grid world. Florian Laurent, Manuel Schneider, Christian Scheller, Jeremy Watson, Jiaoyang Li, Zhe Chen, Yi Zheng, Shao-Hung Chan, Konstantin Makhnev, Oleg Svidchenko, and others. NeurIPS 2020 Competition and Demonstration Track.
2021 February	PRIMAL2: Pathfinding via Reinforcement and Imitation Multi-Agent Learning -- Lifelong. Mehul Damani, Zhiyao Luo, Emerson Wenzel, and Guillaume Sartoretti. IEEE Robotics and Automation Letters 6(2).
2021 January	Coordination of lateral body bending and leg movements for sprawled posture quadrupedal locomotion. Baxi Chong, Yasemin Ozkan Aydin, Chaohui Gong, Guillaume Sartoretti, Yunjin Wu, Jennifer M Rieser, Haosen Xing, Perrin E Schiebel, Jeffery W. Rankin, Krijn B Michel, Alfredo Nicieza, John R Hutchinson, Daniel I Goldman, and Howie Choset. The International Journal of Robotics Research.
2020 October	Sparse Discrete Communication Learning for Multi-Agent Cooperation Through Backpropagation. Benjamin Freed, Rohan James, Guillaume Sartoretti, and Howie Choset. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
2020 March	Simultaneous Policy and Discrete Communication Learning for Multi-Agent Cooperation. Benjamin Freed, Guillaume Sartoretti, and Howie Choset. IEEE Robotics and Automation Letters 5(2).
2020 February	Communication Learning via Backpropagation in Discrete Channels with Unknown Noise. Benjamin Freed, Guillaume Sartoretti, Jiaheng Hu, and Howie Choset. AAAI 2020 - 34th Conference on Artificial Intelligence.
2019 October	Distributed Learning of Decentralized Control Policies for Articulated Mobile Robots. Guillaume Sartoretti, William Paivine, Yunfei Shi, Yue Wu, and Howie Choset. Accepted to IEEE Transactions in Robotics 35(5).
2019 June	A Hierarchical Geometric Framework to Design Locomotive Gaits for Highly Articulated Robots. Baxi Chong, Yasemin Ozkan Aydin, Guillaume Sartoretti, Jennifer Rieser, Chaohui Gong, Haosen Xing, Howie Choset, and Daniel Goldman. Proceedings of Robotics: Science and Systems.
2019 May	Workspace CPG with Body Pose Control for Stable, Directed Vision during Omnidirectional Locomotion. Samuel Shaw, Guillaume Sartoretti, Jake Olkin, William Paivine, and Howie Choset. 2019 IEEE International Conference on Robotics and Automation (ICRA).
2019 March	PRIMAL: Pathfinding via Reinforcement and Imitation Multi-Agent Learning. Guillaume Sartoretti, Justin Kerr, Yunfei Shi, Glenn Wagner, T. K. Satish Kumar, Sven Koenig, and Howie Choset. IEEE Robotics and Automation Letters 4(3).
2018 October	Distributed Reinforcement Learning for Multi-Robot Decentralized Collective Construction. Guillaume Sartoretti, Yue Wu, William Paivine, T. K. Satish Kumar, Sven Koenig, and Howie Choset. DARS 2018 - Inter. Symp. on Distributed Autonomous Robotic Systems.
2018 June	Coordination of back bending and leg movements for quadrupedal locomotion. Baxi Chong, Yasemin Ozkan Aydin, Chaohui Gong, Guillaume Sartoretti, Yunjin Wu, Jennifer Rieser, Haosen Xing, Jeff Rankin, Krijn Michel, Alfredo Nicieza, John Hutchinson, Daniel Goldman, and Howie Choset. Proceedings of Robotics: Science and Systems.
2018 May	Proprioceptive-Inertial Autonomous Locomotion for Articulated Robots. Francesco Ruscelli, Guillaume Sartoretti, Junyu Nan, Zhixin Feng, Matthew Travers, and Howie Choset. 2018 IEEE International Conference on Robotics and Automation (ICRA).
2018 May	Distributed Learning for the Decentralized Control of Articulated Mobile Robots. Guillaume Sartoretti, Yunfei Shi, William Paivine, Matthew Travers, and Howie Choset. 2018 IEEE International Conference on Robotics and Automation (ICRA).
2018 May	Central Pattern Generator With Inertial Feedback for Stable Locomotion and Climbing in Unstructured Terrain. Guillaume Sartoretti, Samuel Shaw, Katie Lam, Naixin Fan, Matthew Travers, and Howie Choset. 2018 IEEE International Conference on Robotics and Automation (ICRA).
2016 May	Distributed planar manipulation in fluidic environments. Guillaume Sartoretti, Samuel Shaw, and M. Ani Hsieh. 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, May 16-21, 2016.
2016 April	Control of Agent Swarms in Random Environments. Guillaume Sartoretti and Max-Olivier Hongler. Unknown venue (type=book).
2016 February	Leader-based versus soft control of multi-agent swarms. Guillaume Sartoretti. Artificial Life and Robotics 21(3).
2016 January	Interacting Brownian Swarms: Analytical Results. Guillaume Sartoretti and Max-Olivier Hongler. Entropy.
2015 October	Leader-Based versus Soft Control of Multi-Agent Swarms. Guillaume Sartoretti. SWARM 2015 - International Symposium on Swarm Behavior and Bio-Inspired Robotics.
2014 December	Decentralized Self-Selection of Swarm Trajectories: From Dynamical System Theory to Robotic Implementation. Guillaume Sartoretti, Max-Olivier Hongler, Marcelo Elias Oliveira, and Francesco Mondada. Swarm Intelligence vol. 8(no. 4).
2014 June	The estimation problem and heterogenous swarms of autonomous agents. Guillaume Sartoretti, Max-Olivier Hongler, and Roger Filliger. SMTDA 2014 - Stochastic Modeling Techniques and Data Analysis International Conference.
2013 August	Soft Control of Self-organized Locally Interacting Brownian Planar Agents. Guillaume Sartoretti and Max-Olivier Hongler. Computer Aided Systems Theory - EUROCAST 2013 (Lecture Notes in Computer Science).
2013 June	Self-organized mixed canonical-dissipative dynamics for Brownian planar agents. Guillaume Sartoretti and Max-Olivier Hongler. Cybernetics and Physics vol. 2(no. 1).
2013 April	Traffic prediction based on a local exchange of information. Bruno Barbieri, Guillaume Sartoretti, Jean-Luc Falcone, Bastien Chopard, and Martin J. Gander. Journal of Cellular Automata 8(5-6).
2013 February	Soft control of swarms: Analytical approach. Guillaume Sartoretti and Max-Olivier Hongler. ICAART 2013 - Proceedings of the 5th International Conference on Agents and Artificial Intelligence.
2013 February	Self-Organized Mixed Canonic-Disipative Dynamics for Brownian Planar Agents. Guillaume Sartoretti and Max-Olivier Hongler. EUROCAST 2013 - International Conference on Computer Aided Systems Theory.
2012 October	Decentralized Method for Traffic Monitoring. Guillaume Sartoretti, Jean-Luc Falcone, Bastien Chopard, and Martin J. Gander. Cellular Automata (Lecture Notes in Computer Science).
2012 September	Decentralized Method for Traffic Monitoring. Guillaume Sartoretti, Jean-Luc Falcone, Bastien Chopard, and Martin J. Gander. ACRI 2012 - Cellular Automata for Research and Industry.