Preprints and Articles Under Review

  • 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 CommunicationPDF
  • 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 Learning PDF Arxiv here
  • S. D. Morad, S. Liwicki, R. Kortvelesy, R. Mecca, A. Prorok, Modeling Partially Observable Systems using Graph-Based Memory and Topological Priors. L4DC, 2022PDF
  • 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, 2022PDF
  • 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, 2022PDF
  • 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), 2022 PDF
  • 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
  • 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 PDFpreprint.
  • 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), 2020PDF.
  • 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): 1009-1016PDF.
  • 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), 2019PDF.
  • 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 2017PDF
  • 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 2017PDF 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), 2017PDF
  • 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), 2017PDF
  • 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), 2017PDF
  • 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), 2016PDF
  • 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, 2016PDF
  • 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), 2016PDF
  • 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, 2015PDF (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, 2011PDF
  • 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, 2013PDFABB 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