Adam Wiktor

Princeton University, Vaughn College of Aeronautics and Technology

Papers

Total Citations

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About

Adam Wiktor’s research lies at the intersection of multi-robot systems, motion planning, and autonomous navigation in challenging environments. His most influential work introduces the **Push-Swap-Wait (PSW) algorithm** (2014, 18 citations), a decentralized and complete approach that enables multiple robots to coordinate collision-free motion in confined spaces without a central controller. This scalable solution, built on a “push and swap” paradigm, is foundational for applications like warehouse logistics and search-and-rescue. Wiktor also made significant contributions to **collaborative localization** in natural terrain (2020, 11 citations). He developed a novel filter architecture that allows robot teams to jointly estimate their positions using **Terrain Relative Navigation (TRN)**, critically addressing and overcoming measurement correlation issues that degrade traditional estimators. This work is vital for autonomous operations in GPS-denied environments, such as planetary exploration or dense forests. With a focus on both theoretical completeness and practical robustness, Wiktor’s research provides key building blocks for deploying reliable, cooperative robot teams in the real world.