research
∙
09/20/2023
Multi-Step Model Predictive Safety Filters: Reducing Chattering by Increasing the Prediction Horizon
Learning-based controllers have demonstrated superior performance compar...
share
research
∙
09/17/2023
Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors
3D object-level mapping is a fundamental problem in robotics, which is e...
research
∙
09/16/2023
Optimal Initialization Strategies for Range-Only Trajectory Estimation
Range-only (RO) pose estimation involves determining a robot's pose over...
research
∙
08/31/2023
A Remote Sim2real Aerial Competition: Fostering Reproducibility and Solutions' Diversity in Robotics Challenges
Shared benchmark problems have historically been a fundamental driver of...
research
∙
08/19/2023
What is the Impact of Releasing Code with Publications? Statistics from the Machine Learning, Robotics, and Control Communities
Open-sourcing research publications is a key enabler for the reproducibi...
research
∙
07/31/2023
Uncertainty-aware Gaussian Mixture Model for UWB Time Difference of Arrival Localization in Cluttered Environments
Ultra-wideband (UWB) time difference of arrival(TDOA)-based localization...
research
∙
07/28/2023
Does Unpredictability Influence Driving Behavior?
In this paper we investigate the effect of the unpredictability of surro...
research
∙
07/20/2023
Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter
Learning-based optimal control algorithms control unknown systems using ...
research
∙
07/02/2023
POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static Environments
Simultaneous localization and mapping (SLAM) in slowly varying scenes is...
research
∙
05/27/2023
Keep it Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator
We consider a nonprehensile manipulation task in which a mobile manipula...
research
∙
05/18/2023
Robust Single-Point Pushing with Force Feedback
We present the first controller for quasistatic robotic planar pushing w...
research
∙
04/18/2023
Continuous-Time Range-Only Pose Estimation
Range-only (RO) localization involves determining the position of a mobi...
research
∙
03/29/2023
Multi-View Keypoints for Reliable 6D Object Pose Estimation
6D Object pose estimation is a fundamental component in robotics enablin...
research
∙
03/08/2023
AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments
This paper presents a scalable online algorithm to generate safe and kin...
research
∙
10/27/2022
Characterising the Robustness of Reinforcement Learning for Continuous Control using Disturbance Injection
In this study, we leverage the deliberate and systematic fault-injection...
research
∙
09/13/2022
Stochastic Modeling of Tag Installation Error for Robust On-Manifold Tag-Based Visual-Inertial Localization
Autonomous mobile robots, including unmanned aerial vehicles (UAVs), hav...
research
∙
05/02/2022
POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes
Maintaining an up-to-date map to reflect recent changes in the scene is ...
research
∙
04/09/2022
Finding the Right Place: Sensor Placement for UWB Time Difference of Arrival Localization in Cluttered Indoor Environments
Ultra-wideband (UWB) time difference of arrival (TDOA)-based localizatio...
research
∙
04/08/2022
Barrier Bayesian Linear Regression: Online Learning of Control Barrier Conditions for Safety-Critical Control of Uncertain Systems
In this work, we consider the problem of designing a safety filter for a...
research
∙
03/28/2022
UTIL: An Ultra-wideband Time-difference-of-arrival Indoor Localization Dataset
This paper presents an ultra-wideband (UWB) time-difference-of-arrival (...
research
∙
03/18/2022
Should Radar Replace Lidar in All-Weather Mapping and Localization?
Radar is a rich sensing modality that is a compelling alternative to lid...
research
∙
03/18/2022
Boreas: A Multi-Season Autonomous Driving Dataset
The Boreas dataset was collected by driving a repeated route over the co...
research
∙
12/07/2021
Bridging the Model-Reality Gap with Lipschitz Network Adaptation
As robots venture into the real world, they are subject to unmodeled dyn...
research
∙
10/01/2021
RLO-MPC: Robust Learning-Based Output Feedback MPC for Improving the Performance of Uncertain Systems in Iterative Tasks
In this work we address the problem of performing a repetitive task when...
research
∙
09/30/2021
Fly Out The Window: Exploiting Discrete-Time Flatness for Fast Vision-Based Multirotor Flight
Current control design for fast vision-based flight tends to rely on hig...
research
∙
09/13/2021
safe-control-gym: a Unified Benchmark Suite for Safe Learning-based Control and Reinforcement Learning
In recent years, reinforcement learning and learning-based control – as ...
research
∙
08/13/2021
Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning
The last half-decade has seen a steep rise in the number of contribution...
research
∙
07/31/2021
Online Spatio-temporal Calibration of Tightly-coupled Ultrawideband-aided Inertial Localization
The combination of ultrawideband (UWB) radios and inertial measurement u...
research
∙
05/29/2021
Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning
This paper presents a radar odometry method that combines probabilistic ...
research
∙
05/25/2021
Self-Calibration of the Offset Between GPS and Semantic Map Frames for Robust Localization
In self-driving, standalone GPS is generally considered to have insuffic...
research
∙
03/03/2021
Learning to Fly – a Gym Environment with PyBullet Physics for Reinforcement Learning of Multi-agent Quadcopter Control
Robotic simulators are crucial for academic research and education as we...
research
∙
03/02/2021
Learning-based Bias Correction for Time Difference of Arrival Ultra-wideband Localization of Resource-constrained Mobile Robots
Accurate indoor localization is a crucial enabling technology for many r...
research
∙
11/06/2020
Do We Need to Compensate for Motion Distortion and Doppler Effects in Radar-Based Navigation?
In order to tackle the challenge of unfavorable weather conditions such ...
research
∙
06/29/2020
To Share or Not to Share? Performance Guarantees and the Asymmetric Nature of Cross-Robot Experience Transfer
In the robotics literature, experience transfer has been proposed in dif...
research
∙
04/19/2020
Zeus: A System Description of the Two-Time Winner of the Collegiate SAE AutoDrive Competition
The SAE AutoDrive Challenge is a three-year collegiate competition to de...
research
∙
03/29/2020
Experience Selection Using Dynamics Similarity for Efficient Multi-Source Transfer Learning Between Robots
In the robotics literature, different knowledge transfer approaches have...
research
∙
03/21/2020
Variational Inference with Parameter Learning Applied to Vehicle Trajectory Estimation
We present parameter learning in a Gaussian variational inference settin...
research
∙
03/20/2020
Learning-based Bias Correction for Ultra-wideband Localization of Resource-constrained Mobile Robots
Accurate indoor localization is a crucial enabling technology for many r...
research
∙
03/17/2020
Catch the Ball: Accurate High-Speed Motions for Mobile Manipulators via Inverse Dynamics Learning
Mobile manipulators consist of a mobile platform equipped with one or mo...
research
∙
12/24/2019
An Analysis of the Expressiveness of Deep Neural Network Architectures Based on Their Lipschitz Constants
Deep neural networks (DNNs) have emerged as a popular mathematical tool ...
research
∙
09/11/2019
Online Trajectory Generation with Distributed Model Predictive Control for Multi-Robot Motion Planning
We present a distributed model predictive control (DMPC) algorithm to ge...
research
∙
06/17/2019
Trajectory Tracking for Quadrotors with Attitude Control on S^2 ×S^1
The control of a quadrotor is typically split into two subsequent proble...
research
∙
05/21/2019
aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge
The University of Toronto is one of eight teams competing in the SAE Aut...
research
∙
05/01/2019
Hierarchically Consistent Motion Primitives for Quadrotor Coordination
We present a hierarchical framework for motion planning of a large colle...
research
∙
05/01/2019
A Modular Framework for Motion Planning using Safe-by-Design Motion Primitives
We present a modular framework for solving a motion planning problem amo...
research
∙
03/30/2019
Knowledge Transfer Between Robots with Similar Dynamics for High-Accuracy Impromptu Trajectory Tracking
In this paper, we propose an online learning approach that enables the i...
research
∙
01/10/2019
No-regret Bayesian Optimization with Unknown Hyperparameters
Bayesian optimization (BO) based on Gaussian process models is a powerfu...
research
∙
11/03/2018
Building a Winning Self-Driving Car in Six Months
The SAE AutoDrive Challenge is a three-year competition to develop a Lev...
research
∙
10/15/2018
Learn Fast, Forget Slow: Safe Predictive Learning Control for Systems with Unknown, Changing Dynamics Performing Repetitive Tasks
We present a control method for improved repetitive path following for a...
research
∙
10/08/2018