Preprints and Articles Under Review

  • S. D. Morad, S. Liwicki, A. Prorok,
    Graph Convolutional Memory for Deep Reinforcement Learning.
    PDF
  • A. Raymond, M. Malencia, G. Paulino-Passos, A. Prorok,
    Agree to Disagree: Subjective Fairness in Privacy-Restricted Decentralised Conflict Resolution.
    PDF
  • F. Gama, Q. Li, E. Tolstaya, A. Prorok, A. Ribeiro,
    Decentralized Control with Graph Neural Networks
    , PDF
  • R. Mitchell, J. Blumenkamp, A. Prorok,
    Gaussian Process Based Message Filtering for Robust Multi-Agent Cooperation in the Presence of Adversarial Communication
    , PDF
  • L. Zhang, A. Prorok, S. Bhattacharya,
    Pursuer Assignment and Control Strategies in Multi-agent Pursuit-Evasion Under Uncertainties.
    , PDF

Peer-Reviewed Papers

  • J. Panerati, H. Zheng, S. Zhou, J. Xu, A. Prorok, A. P. Schoellig,
    Learning to Fly—a Gym Environment with PyBullet Physics for Reinforcement Learning of Multi-agent Quadcopter Control
    , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. PDF
  • Q. Li, W. Lin, Z. Liu, A. Prorok,
    Message-Aware Graph Attention Networks for Large-Scale Multi-Robot Path Planning
    , IEEE Robotics and Automation Letters (R-AL), 2021. PDF
  • R. Kortvelesy, A. Prorok,
    ModGNN: Expert Policy Approximation in Multi-Agent Systems with a Modular Graph Neural Network Architecture
    . ICRA, 2021. PDF
  • M. Malencia, V. Kumar, G. J. Pappas, A. Prorok,
    Fair Robust Assignment using Redundancy.
    IEEE Robotics and Automation Letters (R-AL), 2021. PDF
  • J. Gielis, A. Prorok,
    Improving 802.11p for Delivery of Safety Critical Navigation Information in Robot-to-Robot Communication Networks.
    IEEE Communications Magazine, vol. 59, no. 1, pp. 16-21, January 2021. PDF
  • J. Blumenkamp, A. Prorok,
    The Emergence of Adversarial Communication in Multi-Agent Reinforcement Learning.
    Conference on Robot Learning (CoRL), 2020. PDF.
  • B. Wang, Z. Liu, Q. Li, A. Prorok,
    Mobile Robot Path Planning in Dynamic Environments through Globally Guided Reinforcement Learning
    . IEEE Robotics and Automation Letters (R-AL), vol 5:4, pp. 6932-6939, 2020. Preprint.
  • Q. Li, F. Gama, A. Ribeiro, A. Prorok,
    Graph Neural Networks for Decentralized Multi-Robot Path Planning
    . IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020. Preprint.
  • Matthew Le Maitre, A. Prorok,
    Effects of Controller Heterogeneity on Autonomous Vehicle Traffic
    , IEEE International Conference on Intelligent Transportation Systems (ITSC), 2020. PDF.
  • A. Prorok,
    Robust Assignment Using Redundant Robots on Transport Networks with Uncertain Travel Time
    , IEEE Transactions on Automation Science and Engineering (T-ASE), 2020. PDF, preprint.
  • A. Raymond, H. Gunes, A. Prorok,
    Culture-Based Explainable Human-Agent Deconfliction
    , Autonomous Agents and Multi-Agent Systems (AAMAS), 2020. PDF.
  • R. Mitchell, J. Fletcher, J. Panerati, A. Prorok,
    Multi-Vehicle Mixed-Reality Reinforcement Learning for Autonomous Multi-Lane Driving
    , Autonomous Agents and Multi-Agent Systems (AAMAS), 2020. PDF.
  • H. Zheng, J. Panerati, G. Beltrame, A. Prorok,
    An Adversarial Approach to Private Flocking in Mobile Robot Teams
    , IEEE Robotics and Automation Letters 5.2 (2020): 1009-1016. PDF.
  • M. Whitzer, D. Shishika, D. Thakur, V. Kumar, A. Prorok,
    DC-CAPT: Concurrent Assignment and Planning of Trajectories for Dubins Cars
    , IEEE International Conference on Robotics and Automation (ICRA), 2020.
  • W. Wu, S. Bhattacharya, A. Prorok,
    Multi-Robot Path Deconfliction through Prioritization by Path Prospects
    , IEEE International Conference on Robotics and Automation (ICRA), 2020.PDF.
  • N. Hyldmar, Y. He, A. Prorok,
    A Fleet of Miniature Cars for Experiments in Cooperative Driving
    , IEEE International Conference on Robotics and Automation (ICRA), 2019. PDF.
  • A. Prorok,
    Redundant Robot Assignment on Graphs with Uncertain Edge Costs
    , 14th International Symposium on Distributed Autonomous Robotic Systems (DARS), 2018. PDF. Best Paper Award 
  • A. Prorok, M. A. Hsieh, and V. Kumar.
    The Impact of Diversity on Optimal Control Policies for Heterogeneous Robot Swarms
    . IEEE Transactions on Robotics (T-RO), vol. 33, no. 2, pp. 346 - 358, DOI: 10.1109/TRO.2016.2631593. April 2017. PDF
  • K. Saulnier, D. Saldana, A. Prorok, G. J. Pappas, V. Kumar,
    Resilient Flocking for Mobile Robot Teams
    . IEEE Robotics and Automation Letters (R-AL), vol. 2, no. 2, pp. 1039-1046, DOI: 10.1109/LRA.2017.2655142. April 2017 PDF
  • L. Guerrero-Bonilla, A. Prorok, V. Kumar,
    Formations for Resilient Robot Teams
    . IEEE Robotics and Automation Letters (R-AL), vol. 2, no. 2, pp. 841-848, DOI: 10.1109/LRA.2017.2654550. April 2017. PDF Finalist for Best Multi-Robot Systems paper at ICRA 2017.
  • A. Prorok, V. Kumar,
    Privacy-Preserving Vehicle Assignment for Mobility-on-Demand Systems
    , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, PDF
  • F. Maushart, A. Prorok, M. A. Hsieh, V. Kumar,
    Intrusion Detection for Stochastic Task Allocation in Robot Swarms
    , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, PDF
  • D. Saldana, B. Gabrich, M. Whitzer, A. Prorok, M. F. M. Campos, M. Yim, and V. Kumar,
    A Decentralized Algorithm for Assembling Structures with Modular Robots
    , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, PDF
  • D. Saldana, A. Prorok, S. Sundaram, M. F. M. Campos, V. Kumar,
    Resilient Consensus for Time-Varying Networks of Dynamic Agents
    , American Control Conference (ACC), 2017, PDF
  • C. di Franco, A. Prorok, N. Atanasov, B. Kempke, P. Dutta, V. Kumar, G. J. Pappas,
    Calibration-Free Network Localization using Non-Line-of-Sight Ultra-Wideband Measurements
    , ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN), 2017, PDF
  • A. Prorok, M. A. Hsieh, V. Kumar,
    Adaptive Redistribution of a Swarm of Heterogeneous Robots
    , Special Issue, Workshop on Online Decision-Making in Multi-Robot Coordination, Acta Polytechnica Journal of Advanced Engineering, vol. 56, no. 1, DOI: 10.14311/APP.2016.56.0067,  Jan. 2016.
  • A. Prorok, V. Kumar,
    Towards Differentially Private Aggregation of Heterogeneous Robots
    , 13th International Symposium on Distributed Autonomous Robotic Systems (DARS), 2016. PDF
  • D. Saldana, A. Prorok, M. F. Campos, V. Kumar,
    Triangular Networks for Resilient Formations
    , 13th International Symposium on Distributed Autonomous Robotic Systems (DARS), 2016. PDF
  • A. Prorok, V. Kumar,
    A Macroscopic Privacy Model for Heterogeneous Robot Swarms
    , International Conference on Swarm Intelligence, 2016, PDF
  • A. Prorok, M. A. Hsieh, V. Kumar, 
    Formalizing the Impact of Diversity on Performance in a Heterogeneous Swarm of Robots
    , IEEE International Conference on Robotics and Automation (ICRA), 2016, PDF
  • A. Prorok and A. Martinoli,
    Accurate Indoor Localization with Ultra-Wideband using Spatial Models and Collaboration
    , International Journal of Robotics Research (IJRR), vol. 33, no. 4, pp. 547-568, April 2014. PDF
  • A. Prorok, M. A. Hsieh, V. Kumar,
    Fast Redistribution of a Swarm of Heterogeneous Robots
    , International Conference on Bio-inspired Information and Communications Technologies, 2015, PDF (preprint)Best Paper Award 
  • A. Prorok and A. Martinoli,
    Accurate Localization with Ultra-Wideband: Tessellated Spatial Models and Collaboration
    , The 13th International Symposium on Experimental Robotics (ISER), Springer Tracts in Advanced Robotics, Vol. 88, pp. 321-335, 2013. PDF
  • A. Prorok, L. Gonon, A. Martinoli,
    Online Model Estimation of Ultra-Wideband TDOA Measurements for Mobile Robot Localization
    , IEEE International Conference on Robotics and Automation (ICRA), pp. 807-814, 2012. PDF
  • A. Prorok, A. Bahr, A. Martinoli,
    Low-Cost Collaborative Localization for Large-Scale Multi-Robot Systems
    , IEEE International Conference on Robotics and Automation (ICRA), pp. 4236-4241, 2012. PDF
  • A. Prorok, N. Correll, A. Martinoli,
    Multi-level Spatial Modeling for Stochastic Distributed Robotic Systems
    , The International Journal of Robotics Research (IJRR), vol. 30, pp. 574-589, April 2011. PDF
  • A. Prorok and A. Martinoli,
    A Reciprocal Sampling Algorithm for Lightweight Distributed Multi-Robot Localization
    , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3241-3247, 2011. PDF
  • A. Prorok, P. Tomé, A. Martinoli,
    Accommodation of NLOS for Ultra-Wideband TDOA Localization in Single- and Multi-Robot Systems
    , International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2011. DOI: 10.1109/IPIN.2011.6071927. PDF
  • S. Gowal, A. Prorok, A. Martinoli,
    Two-phase Online Calibration for Infrared-based Inter-Robot Positioning Modules
    , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3313-3319, 2011. PDF
  • A. Prorok, A. Arfire, A. Bahr, J. R. Farserotu, A. Martinoli,
    Indoor Navigation Research with the Khepera III Mobile Robot: An Experimental Baseline with a Case-Study on Ultra-Wideband Positioning
    , International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2010. DOI: 10.1109/IPIN.2010.5647880. PDF
  • A. Prorok, C. M. Cianci, A. Martinoli,
    Towards Optimally Efficient Field Estimation with Threshold- based Pruning in Real Robotic Sensor Networks
    , IEEE International Conference on Robotics and Automation (ICRA), pp. 5453-5459, 2010. PDF
  • M. Cianci, J. Nembrini, A. Prorok, A. Martinoli,
    Assembly of Configurations in a Networked Robotic System: A Case Study on a Reconfigurable Interactive Table Lamp
    , IEEE Swarm Intelligence Symposium (SIS), 2008. DOI: 10.1109/SIS.2008.4668318. PDF

Book Chapters

  • A. Prorok, A. Bahr, A. Martinoli,
    Low-Cost Multi-Robot Localization
    , in Lecture Notes in Electrical Engineering: Redundancy in Robot Manipulators and Multi-Robot Systems, D. Milutinovic and J. Rosen, Eds. Springer, pp. 15-34, 2012. PDF
  • G. Mermoud, A. Prorok, L. Matthey, C. M. Cianci, N. Correll, A. Martinoli,
    Self-Organized Robotic Systems: Large-Scale Experiments in Aggregation and Self-Assembly using Miniature Robots
    , in Handbook of Collective Robotics, S. Kernbach, Ed., Pan Stanford Publishing, 2012. PDF

Workshop Articles

  • A. Prorok,
    Graph Neural Networks for Learning Robot Team Coordination
    , ICML workshop on Federated AI for Robotics, 2018. PDF
  • A. Montanari, F. Kringberg, A. Valentini, C. Mascolo, A. Prorok,
    Surveying Areas in Developing Regions Through Context Aware Drone Mobility
    , Proceedings of the 4th ACM Workshop on Micro Aerial Vehicle Networks, Systems, and Applications, pp. 27-32, 2018
  • M. Pan, A. Prorok, P. Dames, M. Oehlberg, E. A. Lee,
    Integration of Robotic Systems into an IoT Framework via Accessors
    , Eleventh Biennial Ptolemy Miniconference, UC Berkeley, 2015
  • A. Prorok, W. C. Evans, A. Martinoli,
    An Adaptive Field Estimation Algorithm for Sensor Networks in Dynamic Environments
    , Workshop on Robotics for Environmental Monitoring; International Conference on Intelligent Robots and Systems (IROS), 2011. PDF

Theses

  • A. Prorok,
    Models and Algorithms for Ultra-Wideband Localization in Single- and Multi-Robot Systems
    , PhD Thesis, Ecole Polytechnique Fédérale de Lausanne EPFL, n° 5746, 2013. PDFABB Award; Best Thesis in Computer Science, Automation, Telecommunications
  • A. Prorok,
    Multi-Level Modeling of a Miniature Multi-Robot System for Inspection of Regular Structures
    , Masters Thesis, Ecole Polytechnique Fédérale de Lausanne EPFL, 2006