A. Prorok, M. Malencia, L. Carlone, G. S. Sukhatme, B. M. Sadler, V. Kumar, Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems.PDF
R. Mitchell, J. Blumenkamp, A. Prorok, Gaussian Process Based Message Filtering for Robust Multi-Agent Cooperation in the Presence of Adversarial Communication, PDF
R. Kortvelesy, A. Prorok, QGNN: Value Function Factorisation with Graph Neural Networks PDF
M. Bettini, A. Shankar, A. Prorok, System Neural Diversity: Measuring Behavioral Heterogeneity in Multi-Agent Learning PDF
J. Bayrooti, Z. Gao, A. Prorok, Differentially Private Decentralized Deep Learning with Consensus Algorithms PDF
J. Blumenkamp, A. Shankar, M. Bettini, J. Bird, A. Prorok, The Cambridge RoboMaster: An Agile Multi-Robot Research Platform PDF
J. Blumenkamp, S. Morad, J. Gielis, A. Prorok, CoViS-Net: A Cooperative Visual Spatial Foundation Model for Multi-Robot Applications PDF
Peer Reviewed Papers
M. Bettini, A. Prorok, V. Moens, BenchMARL: Benchmarking Multi-Agent Reinforcement Learning, Journal of Machine Learning Research, Vol 25, pp.1-10 2024, PDF
M. Bettini, R. Kortvelesy, A. Prorok, Controlling Behavioral Diversity in Multi-Agent Reinforcement Learning, ICML 2024, Arxiv here
J Blumenkamp, S Morad, J Gielis, A Prorok, CoViS-Net: A Cooperative Visual Spatial Foundation Model for Multi-Robot Applications, CoRL 2024, Arxiv here
A. Shankar, H. Woo, A. Prorok, Docking Multirotors in Close Proximity using Learnt Downwash Models, 18th International Symposium on Experimental Robotics ISER 2023 Arxiv here
J. Gielis, A. Shankar, R. Kortvelesy, A. Prorok, Modeling Aggregate Downwash Forces for Dense Multirotor Flight, 18th International Symposium on Experimental Robotics ISER 2023
H. Smith, A. Shankar, J. Blumenkamp, J. Gielis, A. Prorok, Equivariant Downwash Models for Close Proximity Flight, IEEE Robotics and
Automation Letters (RA-L) 2023 PDF
Z. Gao, G. Yang, A. Prorok, Online Control Barrier Functions for Decentralized Multi-Agent Navigation, International Symposium on Multi-Robot & Multi-Agent Systems (MRS), Dec 2023 PDF Arxiv here
S. Morad, R. Kortvelesy, S. Liwicki, A. Prorok, Reinforcement Learning with Fast and Forgetful Memory, Conference on Neural Information Processing Systems (NeurIPS), Dec 2023 PDF Arxiv here
R Kortvelesy, S Morad, A Prorok, Generalised f- Mean Aggregation for Graph Neural Networks, NeurIPS 2023 PDF
Z. Gao, A. Prorok, Constrained Environment Optimization for Prioritized Multi-Agent Navigation, IEEE Open Journal of Control Systems pp.1-20 PDF Arxiv here
J. Blumenkamp, Q. Li, B. Wang, Z. Liu, A. Prorok, See What the Robot Can’t See: Learning Cooperative Perception for Visual Navigation, IEEE/RSJ IROS 2023 PDF
S. Morad, R. Kortvelesy, M. Bettini, S. Liwicki, A. Prorok, POPGym: Benchmarking Partially Observable Reinforcement Learning, ICLR 2023 PDF
Z. Gao, A. Prorok, Environment Optimization for Multi-Agent Navigation, ICRA 2023 PDF
C. Yu, Q. Li, S. Gao, A. Prorok, Accelerating Multi-Agent Planning Using Graph Transformers with Bounded Suboptimality, ICRA 2023 PDF
R. Kortvelesy, S. Morad, A. Prorok, Permutation-Invariant Set Autoencoders with Fixed-Size Embeddings for Multi-Agent Learning, AAMAS 2023 Arxiv here
M. Bettini, A. Shankar, A. Prorok, Heterogeneous Multi-Robot Reinforcement Learning, AAMAS 2023, PDF Arxiv here
M. Bettini, R. Kortvelesy, J. Blumenkamp, A. Prorok, VMAS: A Vectorized Multi-Agent Simulator for Collective Robot Learning, The 16th International Symposium on Distributed Autonomous Robotic Systems 2022, PDF Arxiv here
L. Zhou, V. Sharma, Q. Li, A. Prorok, A. Ribeiro, P. Tokekar, V. Kumar, Graph Neural Networks for Decentralized Multi-Robot Submodular Action Selection, IEEE International Symposium on Safety, Security and Rescue Robotics 2022, Arxiv here
J. Gielis, A. Shankar, A. Prorok, A Critical Review of Communications in Multi Robot Systems, Springer, Current Robotics Reports 2022. PDFArxiv here
F. Gama, Q. Li, E. Tolstaya, A. Prorok, A. Ribeiro, Synthesizing Decentralized Controllers With Graph Neural Networks and Imitation Learning . IEEE Transactions on Signal Processing ( Volume: 70) pp.1932-1946. PDF Arxiv here
S. Morad, S. Liwicki, R. Kortvelesy, R. Mecca, A. Prorok, Modeling Partially Observable Systems using Graph-Based Memory and Topological Priors. L4DC, 2022. PDF Arxiv here
A. Raymond, M. Malencia, G. Paulino-Passos, A. Prorok, Agree to Disagree: Subjective Fairness in Privacy-Restricted Decentralised Conflict Resolution. Frontiers in Robotics and AI, 2022. PDF Arxiv here
A. Prorok, J. Blumenkamp, Q. Li, R. Korvelesy, Z. Liu, E. Stump, The Holy Grail of Multi-Robot Planning: Learning to Generate Online-Scalable Solutions from Offline-Optimal Experts. AAMAS 2022, May 9–13, 2022, Online PDF Arxiv here
J. Blumenkamp, S. Morad, J. Gielis, Q. Li, A. Prorok, A Framework for Real-World Multi-Robot Systems Running Decentralized GNN-Based Policies. ICRA, 2022 Arxiv here
B. Hudson, Q. Li, M. Malencia, A. Prorok, Graph Neural Network Guided Local Search for the Traveling Salesperson Problem. International Conference on Learning Representations (ICRL), 2022 PDF
F. Sovrano, A. Raymond, A. Prorok, Explanation-Aware Experience Replay in Rule-Dense Environments. IEEE Robotics and Automation Letters (R-AL), 2022 Arxiv here
L. Zhang, A. Prorok, S. Bhattacharya, Pursuer Assignment and Control Strategies in Multi-agent Pursuit-Evasion Under Uncertainties, Frontiers in Robotics and AI, 2021 PDF Arxiv here
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 PDFFinalist 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, 2012PDF
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, 2012PDF
Workshop Articles
A. Prorok, Graph Neural Networks for Learning Robot Team Coordination, ICML workshop on Federated AI for Robotics, 2018PDF
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), 2011PDF
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. PDF, ABB 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
