Roboticist Vivek
Vivek Roboticist
Publications
Welcome to the research publication page of roboticist Vivek Varadharajan. Here, you will find a comprehensive list of his contributions to the field, including book chapters and journal articles that explore innovative concepts in multi-robot systems and swarm intelligence. Notable works include his recent book chapter on bio-inspired concepts in robotics and several journal articles currently under review, showcasing his ongoing research efforts. Dive in to discover the advancements Vivek is making in robotics and automation.
Book Chapters
2022
V. S. Varadharajan and Beltrame G., “Get Together! Multi-robot Systems: Bio-Inspired Concepts
and Deployment Challenges”. In Foundations of Robotics (pp. 299-332). Springer, Singapore.
Publications under review
2024
V. S. Varadharajan, K. Soma, S. Dyanatkar, P. Y. Lajoie and Beltrame G., “Hierarchical structures
define the scalability of robot swarms”. Nature Communications (under Submission process).
Preprint: https://arxiv.org/abs/2405.02417
2024
V. S. Varadharajan, S. Dyanatkar and G. Beltrame, “Hierarchical control of smart particle swarms”.
Swarm Intelligence, (under submission process). Preprint: https://arxiv.org/pdf/2204.07195
2024
V. S. Varadharajan and G. Beltrame, “A Multi-Robot Exploration Planner for Space Applications”.
IEEE Robotics and Automation Letters (Under review).
2024
H. Fouad, V. S. Varadharajan, and Beltrame G., “Multi-agent Energy Sufficiency In Cluttered
Environments using Control barrier functions”. Autonomous Robots (under Review). Preprint:
https://arxiv.org/pdf/2306.15115
2025
R. G. Souleiman, V. S. Varadharajan, and G. Beltrame, “Multi-Objective Risk Assessment Frame-
work for Exploration Planning Using Terrain and Traversability Analysis”. International Conference
on Robotics and Automation (ICRA). (Under Review).
Journals Peer Reviewed
2024
B. Morrell, K. Otsu, A. Agha, D. D. Fan, S. Kim, M. F. Ginting, X. Lei, J. Edlund, S. Fakoorian, A.
Bouman, F. Chavez, T. Kim, G. J Correa, M. Saboia, A. Santamaria-Navarro, B. Lopez, B. Kim,
C. Jung, M. Sobue, O. C. Peltzer, J. Ott, R. Trybula, T. Touma, M. Kaufmann, T. S. Vaquero,
T. Pailevanian, M. Palieri, Y. Chang, A. Reinke, M. Anderson, F. E. Scholler, P. Spieler, L. M
Clark, A. Archanian, K. Chen, H. Melikyan, A. Dixit, H. Delecki, D. Pastor, B. Ridge, N. Marchal,
J. Uribe, S. Dey, K, Ebadi, K. Coble, A. N. Dimopoulos, V. Thangavelu, V. S. Varadharajan,
N. Palomo, A. Rosinol, A. Chatterjee, C. Kanellakis, B. Lindqvist, M. Corah, K. Strickland, R.
Stonebraker, M. Milano, C. E. Denniston, S. Sahnoune, T. Claudet, S. Lee, G. Salhotra, E. Terry, R.
Musuku, R. Schmid, T. Tran, A. Kourchians, J. Schachter, H. Azpurua, L. Resende, A. Kalantari,
J. Nash, J. Lee, C. Patterson, J. Blank, K. Patath, Y. Kubo, R. Alimo, Y. Almalioglu, A. Curtis, J.
Sly, T. Wells, N. T. Ho, M. Kochenderfer, G. Beltrame, G. Nikolakopoulos, D. Shim, L. Carlone, J.
Burdick, “An Addendum to NeBula: Towards Extending TEAM CoSTAR’s Solution to Larger Scale
Environments”.IEEE Transactions on Field Robotics. https://doi.org/10.1109/TFR.2024.3430891
2023
C. Boucher, R. Stower, V. S. Varadharajan, E. Zibetti, F. Levillain and D. St-Onge, “Motion-
based communication for robotic swarms in exploration missions”. Autonomous Robots https:
//doi.org/10.1007/s10514-022-10079-0 .
2022
M. Saboia Da Silva, L. Clark, V. Tangavelu, J. Edlund, K. Otsu, G. J. Correa, V. S. Varadharajan,
A. Santamaria-Navarro, A. Bouman, S. K. Kim, T. Vaquero, G. Beltrame, N. Napp, G. Pessin, and
A. Agha-mohammadi,“Achord: Communication-aware multi-robot coordination with intermittent
connectivity”. IEEE Robotics and Automation Letters. https://doi.org/10.1109/LRA.2022.3193240
2020
V. S. Varadharajan, D. St-Onge, B. Adams and G. Beltrame, “Swarm Relays: Distributed Self-
Healing Ground-and-Air Connectivity Chains”. IEEE Robotics and Automation Letters, vol. 5, no.
4, pp. 5347-5354, and IROS. https://doi.org/10.1109/LRA.2020.3006793
2020
D. St-Onge, V. S. Varadharajan, I. Svogor and G. Beltrame, “From design to deployment: de-
centralized coordination of heterogeneous robotic teams”. Frontiers in Robotics and AI, 7, 51.
https://doi.org/10.3389/frobt.2020.00051
2019
V. S. Varadharajan, D. St-Onge, B. Adams and G. Beltrame, “SOUL: Data Sharing for Robot
Swarms”. Autonomous Robots. https://doi.org/10.1007/s10514-019-09855-2 .
2017
V. S. Varadharajan, D. St-Onge, C. Guß and G. Beltrame, “OTA updates for robotic swarms”,
IEEE software: special issue on Release Engineering. https://doi.org/10.1109/MS.2018.111095718 .
Conference Proceedings Peer Reviewed
2024
A. Imran, V. S. Varadharajan, R. Braga, Y. Bouteiller, A. B. M. Abdalwhab, M. Di-Giacomo, A.
Mercader, G. Beltrame and D. St-Onge, “From the Lab to the Theater: An Unconventional Field
Robotics Journey”. International Conference on Robotics and Automation (ICRA), Workshop on
field robotics.
2024
R. G. Braga, V. S. Varadharajan, G. Beltrame and D. St-Onge, “Swarming out of the lab: Compa-
ring Relative Localization Methods for Collective Behavior”. International Conference on Swarm
Intelligence.
2023
L. T. Turchi, V. S. Varadharajan and G. Beltrame, “Space Missions Monitoring and Multispectral
Prospecting with Lunar Autonomous Robotic Swarms (LUNARS)”. LPI Contributions 2697: 1022.
2023
K. Soma, V. S. Varadharajan, H. Hamann and G. Beltrame, “Congestion and Scalability in Robot
Swarms: A Study on Collective Decision Making”.IEEE International Symposium on Multi-Robot
and Multi-Agent Systems (MRS).
2021
V. S. Varadharajan, S. Kartick and G. Beltrame, “Collective transport via sequential caging”,
Distributed Autonomous Robotic Systems (DARS). Springer.
2019
F. Wu, V. S. Varadharajan and G. Beltrame, “Collision-aware Task Assignment for Multi-Robot
Systems”,IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS).
2019
V. S. Varadharajan, B. Adams and G. Beltrame, “Failure-Tolerant Connectivity Maintenance for
Robot Swarms”, Workshop on Autonomous Robots and Multirobot Systems (ARMS) affiliated
with International Conference on Autonomous Agents and Multiagent Systems (AAMAS).
2019
V. S. Varadharajan, B. Adams and G. Beltrame, “The unbroken telephone game: keeping swarms
connected”, International Conference on Autonomous Agents and Multiagent Systems (AAMAS).
2018
M. Kaufmann, V. S. Varadharajan and G. Beltrame, “A Self Adaptive Data Handling System
for Small Satellites and its Impact on Future Satellite Operations”, International Astronautical
Congress, Bremen, Germany.
2017
V. S. Varadharajan, D. St-Onge, I. Svogor and G. Beltrame, “A Software Ecosystem for Autono-
mous UAV Swarms”, International Symposium on Aerial Robotics, Philadelphia.