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02/26/2023
Data-Association-Free Landmark-based SLAM
We study landmark-based SLAM with unknown data association: our robot na...
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02/26/2023
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge
The DARPA Subterranean Challenge was designed for competitors to develop...
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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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07/30/2022
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams
This paper considers the problem of safely coordinating a team of sensor...
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06/01/2022
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT
This paper reports on the development, execution, and open-sourcing of a...
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05/25/2022
Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM
We present Wildcat, a novel online 3D lidar-inertial SLAM system with ex...
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10/02/2021
Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows
This paper presents a novel non-Gaussian inference algorithm, Normalizin...
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05/11/2021
NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows
This paper presents a novel non-Gaussian inference algorithm, Normalizin...
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03/27/2021
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations
We present a solution to multi-robot distributed semantic mapping of nov...
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01/26/2021
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams
This paper considers the problem of planning trajectories for a team of ...
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11/09/2019
Block-Coordinate 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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07/10/2019
A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees
This paper presents resource-aware algorithms for distributed inter-robo...
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03/02/2019
Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints
The so-called Burer-Monteiro method is a well-studied technique for solv...
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02/06/2019
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-Agent Data Association
A fundamental challenge in many robotics applications is to correctly sy...
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01/17/2019
Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees
Inter-robot loop closure detection, e.g., for collaborative simultaneous...
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06/01/2018