M. Ani Hsieh
Deputy Director, GRASP Lab; Graduate Program Chair, ROBO; Associate Professor, MEAM
Ani is interested in problems that lie at the intersection of robotics, dynamical systems theory, and control. Her work focuses on how robots interact with their environments and how the environment can be leveraged as an energy reservoir for robots. Ani and her group create new abstractions to describe dynamic environments and design new architectures and algorithms for teams of robots to interact with each other and their environments. Her work is very interdisciplinary with a strong emphasis on experimental validation.
Research Areas
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Research Groups
Projects
Publications
Energy-efficient Orienteering Problem in the Presence of Ocean Currents
Publisher IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Learning and Leveraging Features in Flow-Like Environments to Improve Situational Awareness
Publisher IEEE
Flow-Based Control of Marine Robots in Gyre-Like Environments
Publisher International Conference on Robotics and Automation (ICRA)
Stochastic Nonlinear Ensemble Modeling and Control for Robot Team Environmental Monitoring
Publisher arXiv
Towards Understanding Underwater Weather Events in Rivers Using Autonomous Surface Vehicles
Publisher OCEANS 2022
Publisher ICRA
KNODE-MPC: A Knowledge-Based Data-Driven Predictive Control Framework for Aerial Robots
Publisher IEEE
Publisher arXiv
Modular Robot Formation and Routing for Resilient Consensus
Publisher IEEE American Control Conference (ACC)
Nonlinear Synchronization Control for Short-Range Mobile Sensors Drifting in Geophysical Flows
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Publisher IEEE International Conference on Robotics and Automation (ICRA)
A Topological Approach to Path Planning for a Magnetic Millirobot
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Adaptive Sampling and Reduced-Order Modeling of Dynamic Processes by Robot Teams
Publisher IEEE Robotics and Automation Letters (RA-L)
Coordination of multiple AGVs: a quadratic optimization method
Publisher Autonomous Robots
Evaluating the effectiveness of perspective aware planning with panoramas
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Low-Range Interaction Periodic Rendezvous Along Lagrangian Coherent Structures
Publisher IEEE American Control Conference (ACC)
Synchronous Rendezvous for Networks of Marine Robots in Large Scale Ocean Monitoring
Publisher Frontiers in Robotics and AI
Team composition for perimeter defense with patrollers and defenders
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Using Control to Shape Stochastic Escape and Switching Dynamics
Publisher Chaos 29
Publisher IEEE American Control Conference (ACC)
Experiments and open-loop control of multiple catalytic microrobots
Publisher Journal of Micro-Bio Robotics (JMBR)
Exploiting Stochasticity for Navigation in Gyre Flows
Publisher Robotics: Science and Systems (RSS)
Going with the flow: a graph based approach to optimal path planning in general flows
Publisher Autonomous Robots
Information based exploration with panoramas and angle occupancy grids
Publisher Springer
Modelling and Simultaneous Control of Multiple Catalytic Microrobots
Publisher Journal of Micro-Bio Robotics (JMBR)
Neural Network Aided Information Theoretic Exploration
Publisher IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Optimal path planning in time-varying flows using adaptive discretization
Publisher IEEE Robotics and Automation Letters (RA-L)
Optimal Path Planning in Time-Varying Flows with Forecasting Uncertainties
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Cooperative prediction of time-varying boundaries with a team of robots
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Cooperative transport of a buoyant load: A differential geometric approach
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Publisher IEEE Transactions on Automation Science and Engineering (T-ASE)
Information theoretic source seeking strategies for multiagent plume tracking in turbulent fields
Publisher Journal of Marine Science and Engineering
Intrusion detection for stochastic task allocation in robot swarms
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Optimal paths for polygonal robots in SE(2)
Publisher ASME International Design Engineering Technical Conferences and Computers and Information in Engineering (IDETC/CIE)
The Impact of Diversity on Optimal Control Policies for Heterogeneous Robot Swarms
Publisher IEEE Transactions on Robotics
Tracking attracting manifolds in flows
Publisher Autonomous Robots
A triangle histogram for object classification by tactile sensing
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Adaptive distribution of a swarm of heterogeneous robots
Publisher Acta Polytechnica
Formalizing the impact of diversity on performance in a heterogeneous swarm of robots
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Fast redistribution of a swarm of heterogeneous robots
Publisher EAI International Conference on Bio-inspired Information and Communications Technologies (BICT)
Special Issue on the 14th International Symposium on Experimental Robotics, 2014
Publisher International Journal of Robotics Research (IJRR)
News
Alumni News
Faculty News
GRASP News
Student News
Highlights from GRASP at CoRL 2022
December 20, 2022
Alumni News
Faculty News
AI for Good – Collective robotics: Multi-robot coordination in complex environments
December 9, 2022
GRASP News
October 10, 2017
Alumni News
March 30, 2012
Students
Research Staff
Alumni
Robotics MSE, Accelerated Master's '22 - Senior Hardware Engineer, Lutron Electronics
Stochastic Nonlinear Ensemble Modeling and Control for Robot Team Environmental Monitoring
Learning and Leveraging Features in Flow-Like Environmental Features to Improve Robot Awareness
Research Areas
- Complex Systems
- Data-Driven Modeling and Estimation
- Distributed and Decentralized Control
- Modular Self-reconfigurable Robots
- Networked Robots
- Swarm Robots
- Distributed Sensing and Estimation