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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...
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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 ...
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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...
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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...
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02/17/2021
A Safety and Passivity Filter for Robot Teleoperation Systems
In this paper, we present a way of enforcing safety and passivity proper...
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02/05/2021
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments
State estimation for robots navigating in GPS-denied and perceptually-de...
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01/26/2021
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams
This paper considers the problem of planning trajectories for a team of ...
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03/04/2020
A Distributed Pipeline for Scalable, Deconflicted Formation Flying
Reliance on external localization infrastructure and centralized coordin...
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07/17/2019