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Giovanni Beltrame

Polytechnique Montreal

DORA: Distributed Online Risk-Aware Explorer


Sep 29, 2021
David Vielfaure, Samuel Arseneault, Pierre-Yves Lajoie, Giovanni Beltrame


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Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape


Aug 18, 2021
Pierre-Yves Lajoie, Benjamin Ramtoula, Fang Wu, Giovanni Beltrame

* 38 pages, 4 figures 

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The Portiloop: a deep learning-based open science tool for closed-loop brain stimulation


Jul 30, 2021
Nicolas Valenchon, Yann Bouteiller, Hugo R. Jourde, Emily B. J. Coffey, Giovanni Beltrame

* 12 pages, 13 Figures, journal paper. Open source code at https://github.com/mistlab/portiloop 

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A Flexible Exoskeleton for Collision Resilience


Jul 23, 2021
Ricardo de Azambuja, Hassan Fouad, Giovanni Beltrame

* Presented at ICRA 2021 - Aerial Robotics Workshop (https://www.aerial-robotics-workshop.com/). arXiv admin note: substantial text overlap with arXiv:2103.04423 

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Collective transport via sequential caging


Jun 06, 2021
Vivek Shankar Vardharajan, Karthik Soma, Giovanni Beltrame

* Number of Pages - 14 Number of figures - 9 Accepted by Distributed Autonomous Robotic Systems ' 2021 

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NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge


Mar 28, 2021
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick

* For team website, see https://costar.jpl.nasa.gov/ 

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Decentralized Connectivity Maintenance with Time Delays using Control Barrier Functions


Mar 23, 2021
Beatrice Capelli, Hassan Fouad, Giovanni Beltrame, Lorenzo Sabattini

* Proceedings of International Conference on Robotics and Automation (ICRA) 2021 

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When Being Soft Makes You Tough: A Collision Resilient Quadcopter Inspired by Arthropod Exoskeletons


Mar 07, 2021
Ricardo de Azambuja, Hassan Fouad, Giovanni Beltrame


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Multi-robot energy autonomy with wind and constrained resources


Jan 21, 2021
Hassan Fouad, Giovanni Beltrame


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MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception


Dec 16, 2020
Benjamin Ramtoula, Adam Caccavale, Giovanni Beltrame, Mac Schwager

* 12 pages, 6 figures, to be published in 2020 International Symposium on Experimental Robotics (ISER) 

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Reinforcement Learning with Random Delays


Oct 08, 2020
Simon Ramstedt, Yann Bouteiller, Giovanni Beltrame, Christopher Pal, Jonathan Binas


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VIR-SLAM: Visual, Inertial, and Ranging SLAM for single and multi-robot systems


May 31, 2020
Yanjun Cao, Giovanni Beltrame


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Accurate position tracking with a single UWB anchor


May 21, 2020
Yanjun Cao, Chenhao Yang, Rui Li, Alois Knoll, Giovanni Beltrame

* Accepted by ICRA2020 

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CAPRICORN: Communication Aware Place Recognition using Interpretable Constellations of Objects in Robot Networks


Oct 19, 2019
Benjamin Ramtoula, Ricardo de Azambuja, Giovanni Beltrame

* 8 pages, 6 figures, 1 table 

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DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams


Sep 26, 2019
Pierre-Yves Lajoie, Benjamin Ramtoula, Yun Chang, Luca Carlone, Giovanni Beltrame

* 8 pages, 11 figures, 2 tables 

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Self-Healing Ground-and-Air Connectivity Chains


Sep 23, 2019
Vivek Shankar Varadharajan, David St-Onge, Bram Adams, Giovanni Beltrame

* 7 pages, 8 figures, submitted to International Conference on Robotics and Automation (ICRA) 2020 

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An Adversarial Approach to Private Flocking in Mobile Robot Teams


Sep 23, 2019
Hehui Zheng, Jacopo Panerati, Giovanni Beltrame, Amanda Prorok

* 8 pages, 8 figures 

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Decentralized Connectivity Control in Quadcopters: a Field Study of Communication Performance


Sep 23, 2019
Jacopo Panerati, Benjamin Ramtoula, David St-Onge, Yanjun Cao, Marcel Kaufmann, Aidan Cowley, Lorenzo Sabattini, Giovanni Beltrame

* 7 pages, 7 figures 

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Failure-Tolerant Connectivity Maintenance for Robot Swarms


May 12, 2019
Vivek Shankar Varadharajan, Bram Adams, Giovanni Beltrame

* 20 pages, 7 figures, Presented at ARMS Workshop at AAMAS 

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Collaborative Localization and Tracking with Minimal Infrastructure


May 07, 2019
Yanjun Cao, David St-Onge, Andreas Zell, Giovanni Beltrame

* This paper is submitted to IROS2019 

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Collision-aware Task Assignment for Multi-Robot Systems


Apr 08, 2019
Fang Wu, Vivek Shankar Varadharajan, Giovanni Beltrame


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Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models


Jan 24, 2019
Pierre-Yves Lajoie, Siyi Hu, Giovanni Beltrame, Luca Carlone

* 13 pages, 14 figures, 1 table 

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Decentralized collaborative transport of fabrics using micro-UAVs


Oct 01, 2018
Ryan Cotsakis, David St-Onge, Giovanni Beltrame

* Submitted to 2019 International Conference on Robotics and Automation (ICRA). 6 pages 

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Stop, Think, and Roll: Online Gain Optimization for Resilient Multi-robot Topologies


Sep 19, 2018
Marco Minelli, Marcel Kaufmann, Jacopo Panerati, Cinara Ghedini, Giovanni Beltrame, Lorenzo Sabattini

* Proceedings of the International Symposium on Distributed Autonomous Robotic Systems (DARS), 2018 

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Decentralized Connectivity-Preserving Deployment of Large-Scale Robot Swarms


Jun 01, 2018
Nathalie Majcherczyk, Adhavan Jayabalan, Giovanni Beltrame, Carlo Pinciroli

* 8 pages, 8 figures, submitted to IROS 2018 

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ROS and Buzz: consensus-based behaviors for heterogeneous teams


Oct 24, 2017
David St-Onge, Vivek Shankar Varadharajan, Guannan Li, Ivan Svogor, Giovanni Beltrame

* 7 pages, 8 figures, submitted to ICRA 2018 

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Buzz: An Extensible Programming Language for Self-Organizing Heterogeneous Robot Swarms


Aug 01, 2015
Carlo Pinciroli, Adam Lee-Brown, Giovanni Beltrame

* 12 pages, 4 figures, submitted to IEEE Transactions on Robotics 

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