Jonathan P. How

research

∙ 08/14/2023

Wide-Area Geolocalization with a Limited Field of View Camera in Challenging Urban Environments

Cross-view geolocalization, a supplement or replacement for GPS, localiz...

0 Lena M. Downes, et al. ∙

research

∙ 07/17/2023

RAYEN: Imposition of Hard Convex Constraints on Neural Networks

This paper presents RAYEN, a framework to impose hard convex constraints...

0 Jesus Tordesillas, et al. ∙

research

∙ 06/29/2023

Principles and Guidelines for Evaluating Social Robot Navigation Algorithms

A major challenge to deploying robots widely is navigation in human-popu...

0 Anthony Francis, et al. ∙

research

∙ 06/01/2023

Efficient Deep Learning of Robust Policies from MPC using Imitation and Tube-Guided Data Augmentation

Imitation Learning (IL) has been increasingly employed to generate compu...

0 Andrea Tagliabue, et al. ∙

research

∙ 04/24/2023

MOTLEE: Distributed Mobile Multi-Object Tracking with Localization Error Elimination

We present MOTLEE, a distributed mobile multi-object tracking algorithm ...

0 Mason B. Peterson, et al. ∙

research

∙ 04/10/2023

Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned

This paper revisits Kimera-Multi, a distributed multi-robot Simultaneous...

0 Yulun Tian, et al. ∙

research

∙ 03/30/2023

Surrogate Neural Networks for Efficient Simulation-based Trajectory Planning Optimization

This paper presents a novel methodology that uses surrogate models in th...

0 Evelyn Ruff, et al. ∙

research

∙ 03/28/2023

Efficient Deep Learning of Robust, Adaptive Policies using Tube MPC-Guided Data Augmentation

The deployment of agile autonomous systems in challenging, unstructured ...

0 Tong Zhao, et al. ∙

research

∙ 03/10/2023

Robust MADER: Decentralized Multiagent Trajectory Planner Robust to Communication Delay in Dynamic Environments

Communication delays can be catastrophic for multiagent systems. However...

0 Kota Kondo, et al. ∙

research

∙ 03/08/2023

Global Localization in Unstructured Environments using Semantic Object Maps Built from Various Viewpoints

We present a novel framework for global localization and guided relocali...

0 Jacqueline Ankenbauer, et al. ∙

research

∙ 03/07/2023

DeepSeeColor: Realtime Adaptive Color Correction for Autonomous Underwater Vehicles via Deep Learning Methods

Successful applications of complex vision-based behaviours underwater ha...

0 Stewart Jamieson, et al. ∙

research

∙ 02/22/2023

Certifiably Correct Range-Aided SLAM

We present the first algorithm capable of efficiently computing certifia...

0 Alan Papalia, et al. ∙

research

∙ 12/24/2022

GraffMatch: Global Matching of 3D Lines and Planes for Wide Baseline LiDAR Registration

Using geometric landmarks like lines and planes can increase navigation ...

0 Parker C. Lusk, et al. ∙

research

∙ 11/20/2022

Mission-Aware Value of Information Censoring for Distributed Filtering

In this paper, we study the problem of distributed estimation with an em...

0 Miguel Calvo-Fullana, et al. ∙

research

∙ 10/28/2022

Game-Theoretical Perspectives on Active Equilibria: A Preferred Solution Concept over Nash Equilibria

Multiagent learning settings are inherently more difficult than single-a...

0 Dong-Ki Kim, et al. ∙

research

∙ 10/18/2022

Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning

Imitation learning (IL) can generate computationally efficient sensorimo...

0 Andrea Tagliabue, et al. ∙

research

∙ 10/15/2022

MIXER: Multiattribute, Multiway Fusion of Uncertain Pairwise Affinities

We present a multiway fusion algorithm capable of directly processing un...

0 Parker C. Lusk, et al. ∙

research

∙ 10/14/2022

A Hybrid Partitioning Strategy for Backward Reachability of Neural Feedback Loops

As neural networks become more integrated into the systems that we depen...

0 Nicholas Rober, et al. ∙

research

∙ 10/12/2022

RAMP: A Risk-Aware Mapping and Planning Pipeline for Fast Off-Road Ground Robot Navigation

A key challenge in fast ground robot navigation in 3D terrain is balanci...

0 Lakshay Sharma, et al. ∙

research

∙ 10/10/2022

Spectral Sparsification for Communication-Efficient Collaborative Rotation and Translation Estimation

We propose fast and communication-efficient distributed algorithms for r...

0 Yulun Tian, et al. ∙

research

∙ 10/01/2022

Probabilistic Traversability Model for Risk-Aware Motion Planning in Off-Road Environments

A key challenge in off-road navigation is that even visually similar or ...

0 Xiaoyi Cai, et al. ∙

research

∙ 09/28/2022

View-Invariant Localization using Semantic Objects in Changing Environments

This paper proposes a novel framework for real-time localization and ego...

0 Jacqueline Ankenbauer, et al. ∙

research

∙ 09/28/2022

Backward Reachability Analysis of Neural Feedback Loops: Techniques for Linear and Nonlinear Systems

The increasing prevalence of neural networks (NNs) in safety-critical ap...

0 Nicholas Rober, et al. ∙

research

∙ 09/27/2022

Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay

Although communication delays can disrupt multiagent systems, most of th...

0 Kota Kondo, et al. ∙

research

∙ 09/23/2022

Wide-Area Geolocalization with a Limited Field of View Camera

Cross-view geolocalization, a supplement or replacement for GPS, localiz...

0 Lena M. Downes, et al. ∙

research

∙ 09/20/2022

Robust, High-Rate Trajectory Tracking on Insect-Scale Soft-Actuated Aerial Robots with Deep-Learned Tube MPC

Accurate and agile trajectory tracking in sub-gram Micro Aerial Vehicles...

11 Andrea Tagliabue, et al. ∙

research

∙ 09/02/2022

Deep-PANTHER: Learning-Based Perception-Aware Trajectory Planner in Dynamic Environments

This paper presents Deep-PANTHER, a learning-based perception-aware traj...

0 Jesus Tordesillas, et al. ∙

research

∙ 07/30/2022

Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams

This paper considers the problem of safely coordinating a team of sensor...

0 Xiaoyi Cai, et al. ∙

research

∙ 05/17/2022

Global Data Association for SLAM with 3D Grassmannian Manifold Objects

Using pole and plane objects in lidar SLAM can increase accuracy and dec...

0 Parker C. Lusk, et al. ∙

research

∙ 04/14/2022

Backward Reachability Analysis for Neural Feedback Loops

The increasing prevalence of neural networks (NNs) in safety-critical ap...

0 Nicholas Rober, et al. ∙

research

∙ 04/01/2022

Distributed Filtering with Value of Information Censoring

This work presents a distributed estimation algorithm that efficiently u...

0 Miguel Calvo-Fullana, et al. ∙

research

∙ 03/25/2022

Risk-Aware Off-Road Navigation via a Learned Speed Distribution Map

Motion planning in off-road environments requires reasoning about both t...

0 Xiaoyi Cai, et al. ∙

research

∙ 03/21/2022

Multi-Agent Relative Pose Estimation with UWB and Constrained Communications

Inter-agent relative localization is critical for any multi-robot system...

0 Andrew Fishberg, et al. ∙

research

∙ 03/14/2022

Safe adaptation in multiagent competition

Achieving the capability of adapting to ever-changing environments is a ...

0 Macheng Shen, et al. ∙

research

∙ 03/10/2022

City-wide Street-to-Satellite Image Geolocalization of a Mobile Ground Agent

Cross-view image geolocalization provides an estimate of an agent's glob...

0 Lena M. Downes, et al. ∙

research

∙ 03/07/2022

Influencing Long-Term Behavior in Multiagent Reinforcement Learning

The main challenge of multiagent reinforcement learning is the difficult...

0 Dong-Ki Kim, et al. ∙

research

∙ 03/02/2022

Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation

We present the first distributed optimization algorithm with lazy commun...

0 Yulun Tian, et al. ∙

research

∙ 11/29/2021

MIXER: A Principled Framework for Multimodal, Multiway Data Association

A fundamental problem in robotic perception is matching identical object...

0 Parker C. Lusk, et al. ∙

research

∙ 10/02/2021

Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows

This paper presents a novel non-Gaussian inference algorithm, Normalizin...

7 Qiangqiang Huang, et al. ∙

research

∙ 09/21/2021

Demonstration-Efficient Guided Policy Search via Imitation of Robust Tube MPC

We propose a demonstration-efficient strategy to compress a computationa...

0 Andrea Tagliabue, et al. ∙

research

∙ 09/20/2021

Context-Specific Representation Abstraction for Deep Option Learning

Hierarchical reinforcement learning has focused on discovering temporall...

0 Marwa Abdulhai, et al. ∙

research

∙ 09/14/2021

ROMAX: Certifiably Robust Deep Multiagent Reinforcement Learning via Convex Relaxation

In a multirobot system, a number of cyber-physical attacks (e.g., commun...

0 Chuangchuang Sun, et al. ∙

research

∙ 08/09/2021

Reachability Analysis of Neural Feedback Loops

Neural Networks (NNs) can provide major empirical performance improvemen...

0 Michael Everett, et al. ∙

research

∙ 06/28/2021

Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems

This paper presents Kimera-Multi, the first multi-robot system that (i) ...

2 Yulun Tian, et al. ∙

research

∙ 05/27/2021

Airflow-Inertial Odometry for Resilient State Estimation on Multirotors

We present a dead reckoning strategy for increased resilience to positio...

0 Andrea Tagliabue, et al. ∙

research

∙ 05/11/2021

NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows

This paper presents a novel non-Gaussian inference algorithm, Normalizin...

0 Qiangqiang Huang, et al. ∙

research

∙ 03/27/2021

Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations

We present a solution to multi-robot distributed semantic mapping of nov...

0 Stewart Jamieson, et al. ∙

research

∙ 03/10/2021

PANTHER: Perception-Aware Trajectory Planner in Dynamic Environments

This paper presents PANTHER, a real-time perception-aware (PA) trajector...

0 Jesus Tordesillas, et al. ∙

research

∙ 02/25/2021

Where to go next: Learning a Subgoal Recommendation Policy for Navigation Among Pedestrians

Robotic navigation in environments shared with other robots or humans re...

0 Bruno Brito, et al. ∙

research

∙ 02/05/2021

LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments

State estimation for robots navigating in GPS-denied and perceptually-de...

0 Andrea Tagliabue, et al. ∙

Jonathan P. How

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