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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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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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03/21/2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
This paper presents and discusses algorithms, hardware, and software arc...
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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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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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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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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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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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03/03/2018
Model-Based Stochastic Search for Large Scale Optimization of Multi-Agent UAV Swarms
Recent work from the reinforcement learning community has shown that Evo...
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02/15/2018