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05/24/2023
Contact-Prioritized Planning of Impact-Resilient Aerial Robots with an Integrated Compliant Arm
The article develops an impact-resilient aerial robot (s-ARQ) equipped w...
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05/03/2023
A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple Environments
Modeling dynamics is often the first step to making a vehicle autonomous...
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04/02/2023
Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs
To achieve autonomy in unknown and unstructured environments, we propose...
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03/02/2023
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge
Although autonomy has gained widespread usage in structured and controll...
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02/06/2023
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments
We present a method for solving the coverage problem with the objective ...
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01/06/2023
Fast and Scalable Signal Inference for Active Robotic Source Seeking
In active source seeking, a robot takes repeated measurements in order t...
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10/15/2022
Taxonomy of A Decision Support System for Adaptive Experimental Design in Field Robotics
Experimental design in field robotics is an adaptive human-in-the-loop d...
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09/12/2022
Risk-aware Meta-level Decision Making for Exploration Under Uncertainty
Robotic exploration of unknown environments is fundamentally a problem o...
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08/02/2022
Present and Future of SLAM in Extreme Underground Environments
This paper reports on the state of the art in underground SLAM by discus...
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08/02/2022
Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain
Navigating off-road with a fast autonomous vehicle depends on a robust p...
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07/30/2022
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains
Legged robots can traverse a wide variety of terrains, some of which may...
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06/05/2022
ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity
Communication is an important capability for multi-robot exploration bec...
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05/26/2022
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Search and rescue with a team of heterogeneous mobile robots in unknown ...
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05/24/2022
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Multi-robot SLAM systems in GPS-denied environments require loop closure...
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05/24/2022
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping
Lidar odometry has attracted considerable attention as a robust localiza...
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05/03/2022
PropEM-L: Radio Propagation Environment Modeling and Learning for Communication-Aware Multi-Robot Exploration
Multi-robot exploration of complex, unknown environments benefits from t...
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04/13/2022
Copiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface
Real-world deployment of new technology and capabilities can be daunting...
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03/12/2022
FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget
We present a method for autonomous exploration of large-scale unknown en...
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10/01/2021
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds
This paper presents a light-weight frontend LiDAR odometry solution with...
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07/25/2021
Learning Risk-aware Costmaps for Traversability in Challenging Environments
One of the main challenges in autonomous robotic exploration and navigat...
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05/24/2021
Belief Space Planning: A Covariance Steering Approach
A new belief space planning algorithm, called covariance steering Belief...
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03/29/2021
Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors
This work proposes a resilient and adaptive state estimation framework f...
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03/10/2021
Robust Collision-free Lightweight Aerial Autonomy for Unknown Area Exploration
Collision-free path planning is an essential requirement for autonomous ...
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03/04/2021
STEP: Stochastic Traversability Evaluation and Planning for Safe Off-road Navigation
Although ground robotic autonomy has gained widespread usage in structur...
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02/10/2021
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments
In order for a robot to explore an unknown environment autonomously, it ...
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02/09/2021
DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments
Enabling fully autonomous robots capable of navigating and exploring lar...
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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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02/05/2021
BAXTER: Bi-modal Aerial-Terrestrial Hybrid Vehicle for Long-endurance Versatile Mobility: Preprint Version
Unmanned aerial vehicles are rapidly evolving within the field of roboti...
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01/26/2021
Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions
We propose a framework for resilient autonomous navigation in perceptual...
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11/02/2020
Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints
Monocular depth inference has gained tremendous attention from researche...
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10/19/2020
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion
This paper serves as one of the first efforts to enable large-scale and ...
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09/11/2020
Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments
Hybrid ground and aerial vehicles can possess distinct advantages over g...
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08/21/2020
Towards Resilient Autonomous Navigation of Drones
Robots and particularly drones are especially useful in exploring extrem...
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08/17/2020
Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration
In addition to conventional ground rovers, the Mars 2020 mission will se...
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08/03/2020
Nonlinear MPC for Collision Avoidance and Controlof UAVs With Dynamic Obstacles
This article proposes a Novel Nonlinear Model Predictive Control (NMPC) ...
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07/31/2020
A Unified NMPC Scheme for MAVs Navigation with 3D Collision Avoidance under Position Uncertainty
This article proposes a novel Nonlinear Model Predictive Control (NMPC) ...
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06/29/2020
Confidence-rich grid mapping
Representing the environment is a fundamental task in enabling robots to...
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06/07/2020
Unsupervised Learning for Subterranean Junction Recognition Based on 2D Point Cloud
This article proposes a novel unsupervised learning framework for detect...
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03/16/2020
The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)
In this report for the Nasa NIAC Phase I study, we present a mission arc...
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03/03/2020
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, an...
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02/05/2020
Deep Learning Tubes for Tube MPC
Learning-based control aims to construct models of a system to use for p...
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02/03/2020
Shapeshifter: A Multi-Agent, Multi-Modal Robotic Platform for Exploration of Titan
In this paper we present a mission architecture and a robotic platform, ...
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12/14/2019
Perception-aware Autonomous Mast Motion Planning for Planetary Exploration Rovers
Highly accurate real-time localization is of fundamental importance for ...
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10/05/2019
Bayesian Learning-Based Adaptive Control for Safety Critical Systems
Deep learning has enjoyed much recent success, and applying state-of-the...
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08/30/2019
Contact Inertial Odometry: Collisions are your Friend
Autonomous exploration of unknown environments with aerial vehicles rema...
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02/15/2019
Bi-directional Value Learning for Risk-aware Planning Under Uncertainty
Decision-making under uncertainty is a crucial ability for autonomous sy...
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02/20/2015