Publications

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2023
May
SCRIMP: Scalable Communication for Reinforcement- and Imitation-Learning-Based Multi-Agent Pathfinding.
Yutong Wang, Bairan Xiang, Shinan Huang, and Guillaume Sartoretti.
Accepted at the 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2023) as an extended abstract.
2023
May
SocialLight: Distributed Cooperation Learning towards Network-Wide Traffic Signal Control.
Harsh Goel, Yifeng Zhang, Mehul Damani, and Guillaume Sartoretti.
Accepted for Presentation at the 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2023).
2023
May
PDF ARiADNE: A Reinforcement learning approach using Attention-based Deep Networks for Exploration.
Yuhong Cao, Tianxiang Hou, Yizhuo Wang, Xian Yi, and Guillaume Sartoretti.
Accepted for Presentation at the IEEE International Conference on Robotics and Automation (ICRA 2023).
2022
December
PDF Deep Reinforcement Learning for UAV Routing in The Presence of Multiple Charging Stations.
Mingfeng Fan, Yaoxin Wu, Tianjun Liao, Zhiguang Cao, Hongliang Guo, Guillaume Sartoretti, and Guohua Wu.
IEEE Transactions on Vehicular Technology.
2022
October
PDF CAtNIPP: Context-Aware Attention-based Network for Informative Path Planning.
Yuhong Cao, Yizhuo Wang, Apoorva Vashisth, Haolin Fan, and Guillaume Sartoretti.
Conference on Robot Learning (CoRL 2022).
2022
September
PDF DAN: Decentralized Attention-based Neural Network to Solve the MinMax Multiple Traveling Salesman Problem.
Yuhong Cao, Zhanhong Sun, and Guillaume Sartoretti.
16th International Symposium on Distributed Autonomous Robotics Systems (DARS 2021). Best Student Paper Award.
2022
September
PDF Sparse Sensing in Ergodic Optimization.
Ananya Rao, Ian Abraham, Guillaume Sartoretti, and Howie Choset.
16th International Symposium on Distributed Autonomous Robotics Systems (DARS 2021).
2022
August
PDF Distributed Model Predictive Control of Connected Multi-Vehicle Systems at Unsignalized Intersections.
Qiang Ge, Guillaume Sartoretti, Jingliang Duan, Shengbo Evben Li, Yuming Yin, and Sifa Zheng.
5th IEEE International Conference on Unmanned Systems (ICUS 2022).
2022
July
PDF 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
PDF Keyframe-based CPG for Stable Gait Design and Online Transitions in Legged Robots.
Scott Shaw and Guillaume Sartoretti.
IEEE Conference on Decision and Control (CDC 2022).
2022
July
PDF 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
May
PDF 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).
2022
May
PDF Multi-Agent Traffic Signal Control via Distributed RL with Spatial and Temporal Feature Extraction.
Yifeng Zhang, Mehul Damani, and Guillaume Sartoretti.
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
PDF FCMNet: Full Communication Memory Net for Team-Level Cooperation in Multi-Agent Systems.
Yutong Wang and Guillaume Sartoretti.
21st International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2022).
2022
March
PDF 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
PDF 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
PDF Autonomous Decentralized Shape-Based Navigation for Snake Robots in Dense Environments.
Guillaume Sartoretti, Tianyu Wang, Gabriel Chuang, Qingyang Li, and Howie Choset.
IEEE International Conference on Robotics and Automation (ICRA 2021).
2021
May
PDF 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
PDF 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
PDF 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
PDF 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).
2020
March
PDF 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
PDF Communication Learning via Backpropagation in Discrete Channels with Unknown Noise.
Benjamin Freed, Guillaume Sartoretti, Jiaheng Hu, and Howie Choset.
34th Conference on Artificial Intelligence (AAAI 2020).
2019
October
PDF Distributed Learning of Decentralized Control Policies for Articulated Mobile Robots.
Guillaume Sartoretti, William Paivine, Yunfei Shi, Yue Wu, and Howie Choset.
IEEE Transactions in Robotics 35(5).
2019
June
PDF 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.
Robotics: Science and Systems (RSS 2019).
2019
May
PDF Workspace CPG with Body Pose Control for Stable, Directed Vision during Omnidirectional Locomotion.
Samuel Shaw, Guillaume Sartoretti, Jake Olkin, William Paivine, and Howie Choset.
IEEE International Conference on Robotics and Automation (ICRA 2019).
2019
March
PDF 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
PDF Distributed Reinforcement Learning for Multi-Robot Decentralized Collective Construction.
Guillaume Sartoretti, Yue Wu, William Paivine, T. K. Satish Kumar, Sven Koenig, and Howie Choset.
14th International Symposium on Distributed Autonomous Robotics Systems (DARS 2018).
2018
June
PDF 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.
Robotics: Science and Systems (RSS 2018).
2018
May
PDF Proprioceptive-Inertial Autonomous Locomotion for Articulated Robots.
Francesco Ruscelli, Guillaume Sartoretti, Junyu Nan, Zhixin Feng, Matthew Travers, and Howie Choset.
IEEE International Conference on Robotics and Automation (ICRA 2018).
2018
May
PDF Distributed Learning for the Decentralized Control of Articulated Mobile Robots.
Guillaume Sartoretti, Yunfei Shi, William Paivine, Matthew Travers, and Howie Choset.
IEEE International Conference on Robotics and Automation (ICRA 2018).
2018
May
PDF 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.
IEEE International Conference on Robotics and Automation (ICRA 2018).
2016
May
PDF Distributed planar manipulation in fluidic environments.
Guillaume Sartoretti, Samuel Shaw, and M. Ani Hsieh.
IEEE International Conference on Robotics and Automation (ICRA 2016).
2016
April
PDF Control of Agent Swarms in Random Environments.
Guillaume Sartoretti and Max-Olivier Hongler.
Unknown venue (type=book).
2016
February
PDF Leader-based versus soft control of multi-agent swarms.
Guillaume Sartoretti.
Artificial Life and Robotics 21(3).
2016
January
PDF Interacting Brownian Swarms: Analytical Results.
Guillaume Sartoretti and Max-Olivier Hongler.
Entropy.
2015
October
PDF Leader-Based versus Soft Control of Multi-Agent Swarms.
Guillaume Sartoretti.
International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2015).
2014
December
PDF 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 8(4).
2014
June
PDF The estimation problem and heterogenous swarms of autonomous agents.
Guillaume Sartoretti, Max-Olivier Hongler, and Roger Filliger.
Stochastic Modeling Techniques and Data Analysis International Conference (SMTDA 2014).
2013
August
PDF 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
PDF Self-organized mixed canonical-dissipative dynamics for Brownian planar agents.
Guillaume Sartoretti and Max-Olivier Hongler.
Cybernetics and Physics 2(1).
2013
April
PDF 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
PDF Soft control of swarms: Analytical approach.
Guillaume Sartoretti and Max-Olivier Hongler.
5th International Conference on Agents and Artificial Intelligence (ICAART 2015).
2013
February
PDF Self-Organized Mixed Canonic-Disipative Dynamics for Brownian Planar Agents.
Guillaume Sartoretti and Max-Olivier Hongler.
International Conference on Computer Aided Systems Theory (EUROCAST 2013).
2012
October
PDF Decentralized Method for Traffic Monitoring.
Guillaume Sartoretti, Jean-Luc Falcone, Bastien Chopard, and Martin J. Gander.
Cellular Automata (Lecture Notes in Computer Science).