Ali-akbar Agha-mohammadi

research

∙ 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...

0 Zhichao Liu, et al. ∙

research

∙ 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...

0 Jason Gibson, et al. ∙

research

∙ 04/02/2023

Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs

To achieve autonomy in unknown and unstructured environments, we propose...

0 Muhammad Fadhil Ginting, et al. ∙

research

∙ 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...

0 Anushri Dixit, et al. ∙

research

∙ 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 ...

0 Amanda Bouman, et al. ∙

research

∙ 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...

0 Christopher Denniston, et al. ∙

research

∙ 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...

0 Jason M. Gregory, et al. ∙

research

∙ 09/12/2022

Risk-aware Meta-level Decision Making for Exploration Under Uncertainty

Robotic exploration of unknown environments is fundamentally a problem o...

0 Joshua Ott, et al. ∙

research

∙ 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...

0 Kamak Ebadi, et al. ∙

research

∙ 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...

6 Robin Schmid, et al. ∙

research

∙ 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...

0 Sharmita Dey, et al. ∙

research

∙ 06/05/2022

ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity

Communication is an important capability for multi-robot exploration bec...

0 Maira Saboia, et al. ∙

research

∙ 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 ...

0 Yun Chang, et al. ∙

research

∙ 05/24/2022

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM

Multi-robot SLAM systems in GPS-denied environments require loop closure...

0 Christopher Denniston, et al. ∙

research

∙ 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...

0 Andrzej Reinke, et al. ∙

research

∙ 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...

0 Lillian Clark, et al. ∙

research

∙ 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...

0 Marcel Kaufmann, et al. ∙

research

∙ 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...

0 Oriana Peltzer, et al. ∙

research

∙ 10/01/2021

Direct LiDAR Odometry: Fast Localization with Dense Point Clouds

This paper presents a light-weight frontend LiDAR odometry solution with...

0 Kenny Chen, et al. ∙

research

∙ 07/25/2021

Learning Risk-aware Costmaps for Traversability in Challenging Environments

One of the main challenges in autonomous robotic exploration and navigat...

12 David D. Fan, et al. ∙

research

∙ 05/24/2021

Belief Space Planning: A Covariance Steering Approach

A new belief space planning algorithm, called covariance steering Belief...

0 Dongliang Zheng, et al. ∙

research

∙ 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...

0 Seyed Fakoorian, et al. ∙

research

∙ 03/10/2021

Robust Collision-free Lightweight Aerial Autonomy for Unknown Area Exploration

Collision-free path planning is an essential requirement for autonomous ...

0 Sunggoo Jung, et al. ∙

research

∙ 03/04/2021

STEP: Stochastic Traversability Evaluation and Planning for Safe Off-road Navigation

Although ground robotic autonomy has gained widespread usage in structur...

0 David D. Fan, et al. ∙

research

∙ 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 ...

0 Sung-Kyun Kim, et al. ∙

research

∙ 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...

3 Kamak Ebadi, 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. ∙

research

∙ 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...

0 Hyungho Chris Choi, et al. ∙

research

∙ 01/26/2021

Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions

We propose a framework for resilient autonomous navigation in perceptual...

7 Rohan Thakker, et al. ∙

research

∙ 11/02/2020

Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints

Monocular depth inference has gained tremendous attention from researche...

2 Kenny Chen, et al. ∙

research

∙ 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 ...

0 Amanda Bouman, et al. ∙

research

∙ 09/11/2020

Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments

Hybrid ground and aerial vehicles can possess distinct advantages over g...

0 David D. Fan, et al. ∙

research

∙ 08/21/2020

Towards Resilient Autonomous Navigation of Drones

Robots and particularly drones are especially useful in exploring extrem...

0 Angel Santamaria-Navarro, et al. ∙

research

∙ 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...

0 Takahiro Sasaki, et al. ∙

research

∙ 08/03/2020

Nonlinear MPC for Collision Avoidance and Controlof UAVs With Dynamic Obstacles

This article proposes a Novel Nonlinear Model Predictive Control (NMPC) ...

0 Bjorn Lindqvist, et al. ∙

research

∙ 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) ...

0 Sina Sharif Mansouri, et al. ∙

research

∙ 06/29/2020

Confidence-rich grid mapping

Representing the environment is a fundamental task in enabling robots to...

5 Ali-akbar Agha-mohammadi, et al. ∙

research

∙ 06/07/2020

Unsupervised Learning for Subterranean Junction Recognition Based on 2D Point Cloud

This article proposes a novel unsupervised learning framework for detect...

0 Sina Sharif Mansouri, et al. ∙

research

∙ 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...

0 Ali-akbar Agha-mohammadi, et al. ∙

research

∙ 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...

0 Kamak Ebadi, et al. ∙

research

∙ 02/05/2020

Deep Learning Tubes for Tube MPC

Learning-based control aims to construct models of a system to use for p...

0 David D. Fan, et al. ∙

research

∙ 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, ...

0 Andrea Tagliabue, et al. ∙

research

∙ 12/14/2019

Perception-aware Autonomous Mast Motion Planning for Planetary Exploration Rovers

Highly accurate real-time localization is of fundamental importance for ...

0 Jared Strader, et al. ∙

research

∙ 10/05/2019

Bayesian Learning-Based Adaptive Control for Safety Critical Systems

Deep learning has enjoyed much recent success, and applying state-of-the...

0 David D. Fan, et al. ∙

research

∙ 08/30/2019

Contact Inertial Odometry: Collisions are your Friend

Autonomous exploration of unknown environments with aerial vehicles rema...

0 Thomas Lew, et al. ∙

research

∙ 02/15/2019

Bi-directional Value Learning for Risk-aware Planning Under Uncertainty

Decision-making under uncertainty is a crucial ability for autonomous sy...

0 Sung-Kyun Kim, et al. ∙

research

∙ 02/20/2015

Decentralized Control of Partially Observable Markov Decision Processes using Belief Space Macro-actions

The focus of this paper is on solving multi-robot planning problems in c...

0 Shayegan Omidshafiei, et al. ∙

Ali-akbar Agha-mohammadi

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