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...
share
research
∙
07/17/2023
RAYEN: Imposition of Hard Convex Constraints on Neural Networks
This paper presents RAYEN, a framework to impose hard convex constraints...
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...
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...
research
∙
04/24/2023
MOTLEE: Distributed Mobile Multi-Object Tracking with Localization Error Elimination
We present MOTLEE, a distributed mobile multi-object tracking algorithm ...
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...
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...
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 ...
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...
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...
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...
research
∙
02/22/2023
Certifiably Correct Range-Aided SLAM
We present the first algorithm capable of efficiently computing certifia...
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 ...
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...
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...
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...
research
∙
10/15/2022
MIXER: Multiattribute, Multiway Fusion of Uncertain Pairwise Affinities
We present a multiway fusion algorithm capable of directly processing un...
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...
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...
research
∙
10/10/2022
Spectral Sparsification for Communication-Efficient Collaborative Rotation and Translation Estimation
We propose fast and communication-efficient distributed algorithms for r...
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 ...
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...
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...
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...
research
∙
09/23/2022
Wide-Area Geolocalization with a Limited Field of View Camera
Cross-view geolocalization, a supplement or replacement for GPS, localiz...
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...
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...
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...
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...
research
∙
04/14/2022
Backward Reachability Analysis for Neural Feedback Loops
The increasing prevalence of neural networks (NNs) in safety-critical ap...
research
∙
04/01/2022
Distributed Filtering with Value of Information Censoring
This work presents a distributed estimation algorithm that efficiently u...
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...
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...
research
∙
03/14/2022
Safe adaptation in multiagent competition
Achieving the capability of adapting to ever-changing environments is a ...
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...
research
∙
03/07/2022
Influencing Long-Term Behavior in Multiagent Reinforcement Learning
The main challenge of multiagent reinforcement learning is the difficult...
research
∙
03/02/2022
Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation
We present the first distributed optimization algorithm with lazy commun...
research
∙
11/29/2021
MIXER: A Principled Framework for Multimodal, Multiway Data Association
A fundamental problem in robotic perception is matching identical object...
research
∙
10/02/2021
Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows
This paper presents a novel non-Gaussian inference algorithm, Normalizin...
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...
research
∙
09/20/2021
Context-Specific Representation Abstraction for Deep Option Learning
Hierarchical reinforcement learning has focused on discovering temporall...
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...
research
∙
08/09/2021
Reachability Analysis of Neural Feedback Loops
Neural Networks (NNs) can provide major empirical performance improvemen...
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) ...
research
∙
05/27/2021
Airflow-Inertial Odometry for Resilient State Estimation on Multirotors
We present a dead reckoning strategy for increased resilience to positio...
research
∙
05/11/2021
NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows
This paper presents a novel non-Gaussian inference algorithm, Normalizin...
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...
research
∙
03/10/2021
PANTHER: Perception-Aware Trajectory Planner in Dynamic Environments
This paper presents PANTHER, a real-time perception-aware (PA) trajector...
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...
research
∙
02/05/2021