About

The Robotics Algorithms & Autonomous Systems (RAAS) Lab is part of the Electrical & Computer Engineering Department at Virginia Tech.

We design algorithms and build systems to enable teams of robots to act as sensing agents. Our research is at the intersection of theory and systems and is motivated by real-world applications to environmental monitoring, infrastructure inspection, and precision agriculture.

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Recent News

    • May ’19: Lifeng’s paper on assignment algorithms for improving target tracking will appear in the IEEE Transactions on Robotics. We study various observability measures and show which ones are submodular and which ones are not. For both types, we present algorithms with constant-factor performance guarantees for assigning teams of robots to track targets.
    • Apr ’19: Yoon’s paper on distributed assignment under limited communication bandwidth will appear in the special issue on Robot Communication Challenges of the Autonomous Robots journal.
    • Jan ’19: We will have four papers at ICRA ’19 including one that will appear in IEEE RA-L. Congratulations to Zhongshun, Yoon, Lifeng, and Kevin!
    • Dec ’18: Congratulations to Maymoonah on successfully defending her M.S. thesis and to Yoon for proposing his PhD thesis.
    • Nov ’18: Kevin’s paper on planning for UAVs with mobile recharging stations to be published in the Journal of Field Robotics.
    • Sep ’18: Lifeng’s paper on risk-aware submodular optimization and Varun’s paper on informative path planning accepted for WAFR!
    • Sep ’18: New NSF project on developing planning+perception+FPV/AR interface for UAVs in bridge inspection. This project is funded under NSF’s program on the Future of Work at the Human Technology Frontier.
    • Aug ’18: Two long papers on multi-fidelity reinforcement learning and uncertainty-aware perception+planning selected for presentation at AAAI Fall Symposium on Long Term Autonomy.
    • Aug ’18: Our paper on target tracking with self-triggered communications has been accepted for publication in Transactions of Automation Science & Engineering.
    • Aug ’18: New ONR project on joint perception and planning in dynamic environments. This is a collaboration with Lu Feng (Univ. of Virginia), Ufuk Topcu (Univ. of Texas, Austin), and Zsolt Kira (Georgia Tech).

Recent Publications

  • K. Yu, J. M. O’Kane, and P. Tokekar, “Coverage of an Environment Using Energy-Constrained Unmanned Aerial Vehicles,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2019.
    [PDF] [Bibtex]
    @InProceedings{yu2019coverage,
    author = {Kevin Yu and Jason {M. O'Kane} and Pratap Tokekar},
    title = {Coverage of an Environment Using Energy-Constrained Unmanned Aerial Vehicles},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2019},
    note = {to appear},
    }
  • Y. Sung and P. Tokekar, “A Competitive Algorithm for Online Multi-Robot Exploration of a Translating Plume,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2019.
    [PDF] [Bibtex]
    @InProceedings{sung2019competitive,
    author = {Yoonchang Sung and Pratap Tokekar},
    title = {A Competitive Algorithm for Online Multi-Robot Exploration of a Translating Plume},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2019},
    note = {to appear},
    url = {https://arxiv.org/abs/1811.02769},
    }
  • Z. Zhang, J. Lee, J. Smereka, Y. Sung, L. Zhou, and P. Tokekar, “Tree Search Techniques for Minimizing Detectability and Maximizing Visibility,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2019.
    [PDF] [Bibtex]
    @InProceedings{zhang2019tree,
    author = {Zhongshun Zhang and Joseph Lee and Jonathon Smereka and Yoonchang Sung and Lifeng Zhou and Pratap Tokekar},
    title = {Tree Search Techniques for Minimizing Detectability and Maximizing Visibility},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2019},
    note = {to appear},
    }
  • L. Zhou, V. Tzoumas, G. Pappas, and P. Tokekar, “Resilient Active Target Tracking with Multiple Robots,” IEEE Robotics & Automation Letters, vol. 4, 2019.
    [PDF] [Bibtex] [DOI]
    @Article{zhou2019resilient,
    author = {Lifeng Zhou and Vasileios Tzoumas and George Pappas and Pratap Tokekar},
    title = {Resilient Active Target Tracking with Multiple Robots},
    journal = {IEEE Robotics \& Automation Letters},
    year = {2019},
    volume = {4},
    month = jan,
    note = {Also selected for presentation at ICRA 2019.},
    doi = {10.1109/LRA.2018.2881296},
    issue = {1},
    }

 

Current Funding

Completed Projects