Blueberry planting in Tifton, GA.

Precision Agriculture

Agricultural automation presents challenges typically encountered in the realm of cyber-physical systems, such as incomplete information (plant health indicators), external disturbances (weather), limited control authority (fertilizers cannot make a plant mature arbitrarily fast), and a combination of discrete events and continuous plant dynamics. In this project, we focus on the particular problem of optimal pesticide spray […]


Game-theoretic Self-reconfiguration

This project aims to  formulate the homogeneous two- and three-dimensional self-reconfiguration problem over discrete grids as a constrained potential game. We develop a game-theoretic learning algorithm based on the Metropolis-Hastings algorithm that solves the self-reconfiguration problem in a globally optimal fashion. Both a centralized and a fully decentralized algorithm are presented and we show that […]


Musical Abstractions for Multi-Robot Control

How one single operator should influence the performance of a large group of robots is not a simple question in that it depends on various factors, including the size and composition of the team as well as the objective task to be performed. This work introduces music theory as a new approach for multi-robot control […]


Trust-based Coordination

Trust- based coordination is when a team of robots (and possibly humans) have to work together to achieve some goal, but each robot (and/or human) may not trust all of the other robots (and/or humans). If a robot doesn’t trust one of its neighbors all that much, it may not want to heavily weight the […]



Multi-robotic testbeds are an integral part of multi-agent research, yet they are expensive to develop and operate. This in turn makes them unaffordable for most but a select few researchers at well-endowed universities, slows the rate of progress of multi-agent research, and limits the number of educational multi-robot tools available to students. The goal of […]


Safety Barrier Certificates for Multi-robot System

  When designing coordinated controllers for teams of mobile robots, the primary control objective tends to drive the behavior of the team so as to realize tasks such as achieving and maintaining formations, covering areas, or collective transport. Safety, in terms of collision avoidance is added as a secondary controller to override the controller when […]

The GRITSBot in all its glory


The goal of the GRITSBot project is to make multi-agent experiments more accessible to the research community at large as well as to students of all age groups (highschool, undergraduate education, as well as graduate education). In a further step, we intend to open up a show testbed to the general public. Revision 1 of […]


Robust Multi-Agent Networks

The objective of this research is to develop decentralized methods for achieving robustness in multi-agent networks through self-organization. Multi-agent networks typically consist of numerous components that interact with each other to achieve some collaborative tasks. In many applications, the network may face functional or structural challenges such as failures, noise, or malicious attacks, to name a few. Under such perturbations, a desirable […]

Robotic Mixing Using Braids

Robotic Mixing Using Braids

We approach the problem of having robots mix, or interact with each other consistently in the same space, by borrowing concepts from algebraic topology, namely from the Braid Group.

simiam-slam is a mobile robot simulator designed to allow students to bridge the gap between theory and practice in control theory. It enables students to design controllers for a mobile robot, test these controllers in a simulator, and then deploy these controllers on an actual robotic platform: the Khepera III mobile robot (and others). This […]

Coordination Using Set-valued Sensors

What is the minimum amount of information required by a team of networked agents to solve a geometric task? This notion of minimality is explored through the use of set-valued sensors, and the question then becomes what assumptions need to be made on these sensor models. In fact, the set-valued sensor provides a general model […]

Three robots performing optimal coverage of a specified time-varying density function (shown in red).

Control of Multi-Agent Systems Using Time-Varying Density Functions

In this project, optimal coverage ideas are used to control a multi-agent system. In optimal coverage, we are concerned with finding the algorithm that will drive the agents to position themselves in ‘best’ locations, when given a certain density function that represents spatial ‘importance’. For example, this density function may be a probability density function of […]


Power-aware Sensor Networks

As the trends towards decentralization, miniaturization, and longevity of deployment continue in many domains, power management has become increasingly important. In sensing and communications networks, power management has long been a part of the design paradigm. However, an underlying assumption in most of the existing work is that the performance of the sensing devices remain […]


Heterogeneous Self-Reconfiguration

This project develops a novel approach for heterogeneous self-reconfiguration of a modular robot comprised of heterogeneous cubic modules. We allow an arbitrary number of modules and module classes and show that the proposed self-reconfiguration algorithm can guarantee completion of heterogeneous self-reconfiguration sequences by avoiding so-called hole obstructions. We introduce a hole-detection algorithm to avoid creating […]


Mapping Global Network Computations to Local Rules

In networked systems, a designer often has a higher level goal in mind which he wants to achieve with local rules. Examples of possible goals are rendezvous and formation control. This project aims to find general methods by which arbitrary global behaviors can be mapped on to local network interactions. Initial work has shown that […]

Student performing user experiment with the haptic device and computer simulation

Haptic Interactions with Multi-Robot Swarms Using Manipulability

  In the case of leader-follower networks, one or more agents (the leaders) can be used to inject control inputs into the system. In these networks, one can analyze the “effectiveness” of the inputs by borrowing a notion from robotics known as manipulability. In robotics, manipulability indices were developed as a means to analyze the […]

Required Navigation Performance Tube

NextGen Air Transportation Systems

Several Next Generation Air Transportation Systems concepts require aircraft to be able to safely fly routes on the same airspace in a timely fashion. Therefore it is necessary that aircraft are able to navigate on routes with spatial and temporal constraints. Here at the GRITS Lab, we propose an optimal control approach at solving the problem.

GRITS_formation 00_00_00-00_00_10

Proportional-Integral Distributed Optimization

Many tasks to be solved by multi-agent systems can be formed in terms of a cost, where task completion corresponds to minimizing the cost.  For example, the figure below depicts multi-agent formation control where agents must collectively decide upon parameters of the formation (such as displacement, rotation, and spread) while moving into position.  By having […]


Learning to Locomote

As robots evolve they are becoming increasingly “smarter”, but still can not and do not learn the way humans learn. For example, humans have evolved to move by walking or running; however, humans can learn how to move by other means (e.g. swimming, skateboarding, riding bikes, etc.). I don’t know of any current robot that […]


Spatio-Temporal Routing

  The idea behind this project is to route multiple robots to service spatially distributed requests at specified time instants, while optimizing some criterion, for instance the total distance travelled, or the total time of travel. The routing problem is similar to the well known Multiple Traveling Salesman Problem (m-TSP) or the Vehicle Routing Problem (VRP), except […]