
AirflowInertial Odometry for Resilient State Estimation on Multirotors
We present a dead reckoning strategy for increased resilience to positio...
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NFiSAM: Incremental Smoothing and Mapping via Normalizing Flows
This paper presents a novel nonGaussian inference algorithm, Normalizin...
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MultiRobot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations
We present a solution to multirobot distributed semantic mapping of nov...
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PANTHER: PerceptionAware Trajectory Planner in Dynamic Environments
This paper presents PANTHER, a realtime perceptionaware (PA) trajector...
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Where to go next: Learning a Subgoal Recommendation Policy for Navigation Among Pedestrians
Robotic navigation in environments shared with other robots or humans re...
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LION: LidarInertial ObservabilityAware Navigator for VisionDenied Environments
State estimation for robots navigating in GPSdenied and perceptuallyde...
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NonMonotone EnergyAware Information Gathering for Heterogeneous Robot Teams
This paper considers the problem of planning trajectories for a team of ...
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Efficient Reachability Analysis of ClosedLoop Systems with Neural Network Controllers
Neural Networks (NNs) can provide major empirical performance improvemen...
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CLIPPER: A GraphTheoretic Framework for Robust Data Association
We present CLIPPER (Consistent LInking, Pruning, and Pairwise Error Rect...
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KimeraMulti: a System for Distributed MultiRobot MetricSemantic Simultaneous Localization and Mapping
We present the first fully distributed multirobot system for dense metr...
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A Policy Gradient Algorithm for Learning to Learn in Multiagent Reinforcement Learning
A fundamental challenge in multiagent reinforcement learning is to learn...
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MADER: Trajectory Planner in MultiAgent and Dynamic Environments
This paper presents MADER, a 3D decentralized and asynchronous trajector...
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MINVO Basis: Finding Simplexes with Minimum Volume Enclosing Polynomial Curves
This paper studies the problem of finding the smallest nsimplex enclosi...
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Robustness Analysis of Neural Networks via Efficient Partitioning: Theory and Applications in Control Systems
Neural networks (NNs) are now routinely implemented on systems that must...
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Lunar Terrain Relative Navigation Using a Convolutional Neural Network for Visual Crater Detection
Terrain relative navigation can improve the precision of a spacecraft's ...
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SetInvariant Constrained Reinforcement Learning with a MetaOptimizer
This paper investigates reinforcement learning with safety constraints. ...
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Collision Probabilities for ContinuousTime Systems Without Sampling [with Appendices]
Demand for highperformance, robust, and safe autonomous systems has gro...
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Active Reward Learning for CoRobotic Vision Based Exploration in Bandwidth Limited Environments
We present a novel POMDP problem formulation for a robot that must auton...
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Asynchronous and Parallel Distributed Pose Graph Optimization
We present Asynchronous Stochastic Parallel Pose Graph Optimization (ASA...
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Touch the Wind: Simultaneous Airflow, Drag and Interaction Sensing on a Multirotor
Disturbance estimation for Micro Aerial Vehicles (MAVs) is crucial for r...
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A Distributed Pipeline for Scalable, Deconflicted Formation Flying
Reliance on external localization infrastructure and centralized coordin...
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Scaling Up Multiagent Reinforcement Learning for Robotic Systems: Learn an Adaptive Sparse Communication Graph
The complexity of multiagent reinforcement learning (MARL) in multiagent...
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RMADDPG for Partially Observable Environments and Limited Communication
There are several realworld tasks that would benefit from applying mul...
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Multiagent Motion Planning for Dense and Dynamic Environments via Deep Reinforcement Learning
This paper introduces a hybrid algorithm of deep reinforcement learning ...
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FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments
Planning highspeed trajectories for UAVs in unknown environments requir...
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Incremental Learning of Motion Primitives for Pedestrian Trajectory Prediction at Intersections
This paper presents a novel incremental learning algorithm for pedestria...
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BlockCoordinate Descent on the Riemannian Staircase for Certifiably Correct Distributed Rotation and Pose Synchronization
This paper presents the first certifiably correct solver for distributed...
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Certified Adversarial Robustness for Deep Reinforcement Learning
Deep Neural Networkbased systems are now the stateoftheart in many r...
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Collision Avoidance in PedestrianRich Environments with Deep Reinforcement Learning
Collision avoidance algorithms are essential for safe and efficient robo...
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Robust Opponent Modeling via Adversarial Ensemble Reinforcement Learning in Asymmetric ImperfectInformation Games
This paper presents an algorithmic framework for learning robust policie...
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Predicting optimal value functions by interpolating reward functions in scalarized multiobjective reinforcement learning
A common approach for defining a reward function for Multiobjective Rei...
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Search and Rescue under the Forest Canopy using Multiple UAVs
We present a multirobot system for GPSdenied search and rescue under t...
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Planning Beyond the Sensing Horizon Using a Learned Context
Lastmile delivery systems commonly propose the use of autonomous roboti...
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Towards Online ObservabilityAware Trajectory Optimization for Landmarkbased Estimators
As autonomous systems rely increasingly on onboard sensors for localizat...
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A ResourceAware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees
This paper presents resourceaware algorithms for distributed interrobo...
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Policy Distillation and Value Matching in Multiagent Reinforcement Learning
Multiagent reinforcement learning algorithms (MARL) have been demonstrat...
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FaSTraP: Fast and Safe Trajectory Planner for Flights in Unknown Environments
Planning highspeed trajectories for UAVs in unknown environments requir...
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Learning Hierarchical Teaching in Cooperative Multiagent Reinforcement Learning
Heterogeneous knowledge naturally arises among different agents in coope...
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BlockCoordinate Minimization for Large SDPs with BlockDiagonal Constraints
The socalled BurerMonteiro method is a wellstudied technique for solv...
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Active Perception in Adversarial Scenarios using Maximum Entropy Deep Reinforcement Learning
We pose an active perception problem where an autonomous agent actively ...
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CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for MultiAgent Data Association
A fundamental challenge in many robotics applications is to correctly sy...
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ResourceAware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees
Interrobot loop closure detection, e.g., for collaborative simultaneous...
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Safe Reinforcement Learning with Model Uncertainty Estimates
Many current autonomous systems are being designed with a strong relianc...
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RealTime Planning with MultiFidelity Models for Agile Flights in Unknown Environments
Autonomous navigation through unknown environments is a challenging task...
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Efficient ConstellationBased MapMerging for Semantic SLAM
Data association in SLAM is fundamentally challenging, and handling ambi...
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ContextAware Pedestrian Motion Prediction In Urban Intersections
This paper presents a novel contextbased approach for pedestrian motion...
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A Transferable Pedestrian Motion Prediction Model for Intersections with Different Geometries
This paper presents a novel framework for accurate pedestrian intent pre...
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Partial Replanning for Decentralized Dynamic Task Allocation
In timesensitive and dynamic missions, multiUAV teams must respond qui...
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NearOptimal Budgeted Data Exchange for Distributed Loop Closure Detection
Interrobot loop closure detection is a core problem in collaborative SL...
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Learning to Teach in Cooperative Multiagent Reinforcement Learning
We present a framework and algorithm for peertopeer teaching in cooper...
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Jonathan P. How
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Professor of Aeronautics and Astronautics at Massachusetts Institute of Technology