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
J. Gielis, A. Shankar, A. Prorok, A Critical Review of Communications in Multi Robot Systems, PDF
M. Bettini, R. Kortvelesy, J. Blumenkamp, A. Prorok, VMAS: A Vectorized Multi-Agent Simulator for Collective Robot Learning PDF
Peer Reviewed Papers
F. Gama, Q. Li, E. Tolstaya, A. Prorok, A. Ribeiro, Synthesizing Decentralized Controllers With Graph Neural Networks and Imitation LearningPDFArxiv here
S. D. Morad, S. Liwicki, R. Kortvelesy, R. Mecca, A. Prorok, Modeling Partially Observable Systems using Graph-Based Memory and Topological Priors. L4DC, 2022. PDF
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
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. PDF
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.PDF
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), 2022PDF
L. Zhang, A. Prorok, S. Bhattacharya, Pursuer Assignment and Control Strategies in Multi-agent Pursuit-Evasion Under Uncertainties., Frontiers in Robotics and AI, 2021PDF
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), 2021PDF
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), 2021PDF
R. Kortvelesy, A. Prorok, ModGNN: Expert Policy Approximation in Multi-Agent Systems with a Modular Graph Neural Network Architecture. ICRA, 2021PDF
M. Malencia, V. Kumar, G. J. Pappas, A. Prorok, Fair Robust Assignment using Redundancy. IEEE Robotics and Automation Letters (R-AL), 2021PDF
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 2021PDF
J. Blumenkamp, A. Prorok, The Emergence of Adversarial Communication in Multi-Agent Reinforcement Learning. Conference on Robot Learning (CoRL), 2020PDF.
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, 2020Preprint.
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, 2020Preprint.
Matthew Le Maitre, A. Prorok, Effects of Controller Heterogeneity on Autonomous Vehicle Traffic, IEEE International Conference on Intelligent Transportation Systems (ITSC), 2020PDF.
A. Prorok, Robust Assignment Using Redundant Robots on Transport Networks with Uncertain Travel Time, IEEE Transactions on Automation Science and Engineering (T-ASE), 2020PDF, preprint.
A. Raymond, H. Gunes, A. Prorok, Culture-Based Explainable Human-Agent Deconfliction, Autonomous Agents and Multi-Agent Systems (AAMAS), 2020PDF.
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 2017PDF
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 2014PDF
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, 2013PDF
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, 2012PDF
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, 2012PDF
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.2011.6071927PDF
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, 2011PDF
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.2010.5647880PDF
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, 2010PDF
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.2008.4668318PDF
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
