Koushil Sreenath

Emergent Collaboration for Heterogeneous Multi-Robot Rearrangement

Collaboration among different species is common in nature. For instance, ostriches have sharp eyesight but poor hearing and weak sense of smell, while zebras have exceptional hearing and great sense of smell but bad eyesight. They form a symbiotic relationship to protect themselves from predators on the African savanna.

Drawing inspiration from symbiotic collaboration in nature, heterogeneous multi-robots can also work...

Learning Safety-Assured Collaborative Quadrupedal Manipulation

Collaboration is very common in animals, ranging from flocks of wolves to packs of bees. For instance, a team of ants can cooperatively carry heavy loads to their nest. Drawing inspiration from collaborative teamwork in nature, robots can also work together to achieve tasks that are beyond the ability of individual robots. However, this is challenging in several...

Learning-based Safe Navigation for Dynamic Legged Robots

Legged systems have the potential to navigate over a wide variety of difficult terrain, such as cluttered indoor environments, as illustrated in the figure above. Enabling legged robots to autonomously step on, over and around obstacles make them better suited for mobility in the real-world for...