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09/10/2023
LONER: LiDAR Only Neural Representations for Real-Time SLAM
This paper proposes LONER, the first real-time LiDAR SLAM algorithm that...
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09/06/2023
Serving Time: Real-Time, Safe Motion Planning and Control for Manipulation of Unsecured Objects
A key challenge to ensuring the rapid transition of robotic systems from...
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08/04/2023
Group-k consistent measurement set maximization via maximum clique over k-Uniform hypergraphs for robust multi-robot map merging
This paper unifies the theory of consistent-set maximization for robust ...
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08/03/2023
Not All Actions Are Created Equal: Bayesian Optimal Experimental Design for Safe and Optimal Nonlinear System Identification
Uncertainty in state or model parameters is common in robotics and typic...
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07/11/2023
Hyperspherical Embedding for Point Cloud Completion
Most real-world 3D measurements from depth sensors are incomplete, and t...
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05/23/2023
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation
This paper reports a novel result: with proper robot models on matrix Li...
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05/08/2023
Sense, Imagine, Act: Multimodal Perception Improves Model-Based Reinforcement Learning for Head-to-Head Autonomous Racing
Model-based reinforcement learning (MBRL) techniques have recently yield...
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02/15/2023
RADIUS: Risk-Aware, Real-Time, Reachability-Based Motion Planning
Deterministic methods for motion planning guarantee safety amidst uncert...
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02/14/2023
Reachability-based Trajectory Design with Neural Implicit Safety Constraints
Generating safe motion plans in real-time is a key requirement for deplo...
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01/30/2023
Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty
A key challenge to the widespread deployment of robotic manipulators is ...
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11/22/2022
REFINE: Reachability-based Trajectory Design using Robust Feedback Linearization and Zonotopes
Performing real-time receding horizon motion planning for autonomous veh...
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11/18/2022
LiSnowNet: Real-time Snow Removal for LiDAR Point Cloud
LiDARs have been widely adopted to modern self-driving vehicles, providi...
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09/06/2022
Group-k Consistent Measurement Set Maximization for Robust Outlier Detection
This paper presents a method for the robust selection of measurements in...
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09/02/2022
CLONeR: Camera-Lidar Fusion for Occupancy Grid-aided Neural Representations
Recent advances in neural radiance fields (NeRFs) achieve state-of-the-a...
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07/05/2022
BiPOCO: Bi-Directional Trajectory Prediction with Pose Constraints for Pedestrian Anomaly Detection
We present BiPOCO, a Bi-directional trajectory predictor with POse COnst...
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07/05/2022
Leveraging Trajectory Prediction for Pedestrian Video Anomaly Detection
Video anomaly detection is a core problem in vision. Correctly detecting...
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05/25/2022
These Maps Are Made For Walking: Real-Time Terrain Property Estimation for Mobile Robots
The equations of motion governing mobile robots are dependent on terrain...
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04/20/2022
Lie Algebraic Cost Function Design for Control on Lie Groups
This paper presents a control framework on Lie groups by designing the c...
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03/16/2022
Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model
Ultra-Local Models (ULM) have been applied to perform model-free control...
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05/10/2021
Coupling Intent and Action for Pedestrian Crossing Behavior Prediction
Accurate prediction of pedestrian crossing behaviors by autonomous vehic...
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04/23/2021
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation
Manipulators can be added to legged robots, allowing them to interact wi...
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03/30/2021
A Kinematic Model for Trajectory Prediction in General Highway Scenarios
Highway driving invariably combines high speeds with the need to interac...
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01/02/2021
Learning Rotation-Invariant Representations of Point Clouds Using Aligned Edge Convolutional Neural Networks
Point cloud analysis is an area of increasing interest due to the develo...
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11/17/2020
Reachability-based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control
Reinforcement Learning (RL) algorithms have achieved remarkable performa...
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10/21/2020
Trip Recovery in Lower-Limb Prostheses using Reachable Sets of Predicted Human Motion
People with lower-limb loss, the majority of which use passive prosthese...
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10/20/2020
Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics
Nonlinear dynamical systems can be made easier to control by lifting the...
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07/29/2020
BiTraP: Bi-directional Pedestrian Trajectory Prediction with Multi-modal Goal Estimation
Pedestrian trajectory prediction is an essential task in robotic applica...
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07/09/2020
Point Set Voting for Partial Point Cloud Analysis
The continual improvement of 3D sensors has driven the development of al...
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06/08/2020
Pixel-Wise Motion Deblurring of Thermal Videos
Uncooled microbolometers can enable robots to see in the absence of visi...
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06/01/2020
Off The Beaten Sidewalk: Pedestrian Prediction In Shared Spaces For Autonomous Vehicles
Pedestrians and drivers interact closely in a wide range of environments...
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03/31/2020
Covariance-Robust Dynamic Watermarking
Attack detection and mitigation strategies for cyberphysical systems (CP...
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03/03/2020
Safe, Optimal, Real-time Trajectory Planning with a Parallel Constrained Bernstein Algorithm
To move through the world, mobile robots typically use a receding-horizo...
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02/21/2020
Emulating duration and curvature of coral snake anti-predator thrashing behaviors using a soft-robotic platform
This paper presents a soft-robotic platform for exploring the ecological...
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02/05/2020
Reachable Sets for Safe, Real-Time Manipulator Trajectory Design
For robotic arms to operate in arbitrary environments, especially near p...
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02/04/2020
Koopman-based Control of a Soft Continuum Manipulator Under Variable Loading Conditions
Controlling soft continuum manipulator arms is difficult due to their in...
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09/24/2019
Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design
Online control design using a high-fidelity, full-order model for a bipe...
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09/23/2019
Shadow Transfer: Single Image Relighting For Urban Road Scenes
Illumination effects in images, specifically cast shadows and shading, h...
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09/17/2019
Risk Assessment and Planning with Bidirectional Reachability for Autonomous Driving
Knowing and predicting dangerous factors within a scene are two key comp...
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09/11/2019
On-Demand Trajectory Predictions for Interaction Aware Highway Driving
Highway driving places significant demands on human drivers and autonomo...
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06/18/2019
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra
An accurate characterization of pose uncertainty is essential for safe a...
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05/07/2019
LiStereo: Generate Dense Depth Maps from LIDAR and Stereo Imagery
An accurate depth map of the environment is critical to the safe operati...
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03/20/2019
Walking with Confidence: Safety Regulation for Full Order Biped Models
Safety guarantees are valuable in the control of walking robots, as fall...
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03/05/2019
Stochastic Sampling Simulation for Pedestrian Trajectory Prediction
Urban environments pose a significant challenge for autonomous vehicles ...
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02/07/2019
Towards Provably Not-at-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments
As autonomous robots increasingly become part of daily life, they will o...
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02/07/2019
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control
Controlling soft robots with precision is a challenge due in large part ...
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10/25/2018
Automated Camera-Based Estimation of Rehabilitation Criteria Following ACL Reconstruction
Anterior cruciate ligament (ACL) reconstruction necessitates months of r...
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10/15/2018
Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory
Soft robots are challenging to model due to their nonlinear behavior. Ho...
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10/09/2018
A constrained control-planning strategy for redundant manipulators
This paper presents an interconnected control-planning strategy for redu...
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09/20/2018
Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming
Autonomous navigation requires an accurate model or map of the environme...
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09/18/2018
