Nikolay Atanasov

research

∙ 09/17/2023

Optimal Scene Graph Planning with Large Language Model Guidance

Recent advances in metric, semantic, and topological mapping have equipp...

0 Zhirui Dai, et al. ∙

research

∙ 09/17/2023

Hamiltonian Dynamics Learning from Point Cloud Observations for Nonholonomic Mobile Robot Control

Reliable autonomous navigation requires adapting the control policy of a...

0 Abdullah Altawaitan, et al. ∙

research

∙ 09/05/2023

Distributed Variational Inference for Online Supervised Learning

Developing efficient solutions for inference problems in intelligent sen...

0 Parth Paritosh, et al. ∙

research

∙ 07/10/2023

Learning to Identify Graphs from Node Trajectories in Multi-Robot Networks

The graph identification problem consists of discovering the interaction...

0 Eduardo Sebastian, et al. ∙

research

∙ 12/03/2022

Distributionally Robust Lyapunov Function Search Under Uncertainty

This paper develops methods for proving Lyapunov stability of dynamical ...

0 Kehan Long, et al. ∙

research

∙ 12/03/2022

Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories

This paper proposes a novel model-based policy gradient algorithm for tr...

0 Pengzhi Yang, et al. ∙

research

∙ 11/29/2022

Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems

Incorporating prior knowledge of physics laws and structural properties ...

0 Valentin Duruisseaux, et al. ∙

research

∙ 10/04/2022

Safe and Stable Control Synthesis for Uncertain System Models via Distributionally Robust Optimization

This paper considers enforcing safety and stability of dynamical systems...

0 Kehan Long, et al. ∙

research

∙ 09/26/2022

Learning Continuous Control Policies for Information-Theoretic Active Perception

This paper proposes a method for learning continuous control policies fo...

0 Pengzhi Yang, et al. ∙

research

∙ 09/20/2022

Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning

In this paper, we develop an approach that enables autonomous robots to ...

0 Daniel T. Larsson, et al. ∙

research

∙ 09/20/2022

LEMURS: Learning Distributed Multi-Robot Interactions

This paper presents LEMURS, an algorithm for learning scalable multi-rob...

0 Eduardo Sebastian, et al. ∙

research

∙ 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...

0 Xiaoyi Cai, et al. ∙

research

∙ 07/22/2022

Robust and Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics

Stability and safety are critical properties for successful deployment o...

0 Zhichao Li, et al. ∙

research

∙ 07/01/2022

A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers

Active Simultaneous Localization and Mapping (SLAM) is the problem of pl...

0 Julio A. Placed, et al. ∙

research

∙ 06/22/2022

Latent Policies for Adversarial Imitation Learning

This paper considers learning robot locomotion and manipulation tasks fr...

0 Tianyu Wang, et al. ∙

research

∙ 04/23/2022

TerrainMesh: Metric-Semantic Terrain Reconstruction from Aerial Images Using Joint 2D-3D Learning

This paper considers outdoor terrain mapping using RGB images obtained f...

0 Qiaojun Feng, et al. ∙

research

∙ 04/15/2022

Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories

The problem of active mapping aims to plan an informative sequence of se...

0 Arash Asgharivaskasi, et al. ∙

research

∙ 02/19/2022

Safe Control Synthesis with Uncertain Dynamics and Constraints

This paper considers safe control synthesis for dynamical systems in the...

0 Kehan Long, et al. ∙

research

∙ 02/18/2022

DARL1N: Distributed multi-Agent Reinforcement Learning with One-hop Neighbors

Most existing multi-agent reinforcement learning (MARL) methods are limi...

0 Baoqian Wang, et al. ∙

research

∙ 01/12/2022

Physics-guided Learning-based Adaptive Control on the SE(3) Manifold

In real-world robotics applications, accurate models of robot dynamics a...

0 Thai Duong, et al. ∙

research

∙ 12/09/2021

Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics

Safe autonomous navigation in unknown environments is an important probl...

0 Zhichao Li, et al. ∙

research

∙ 12/08/2021

Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observations

The demand for robot exploration in unstructured and unknown environment...

0 Arash Asgharivaskasi, et al. ∙

research

∙ 10/14/2021

Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach

This paper proposes a novel active Simultaneous Localization and Mapping...

0 Shumon Koga, et al. ∙

research

∙ 10/12/2021

Distributed Gaussian Process Mapping for Robot Teams with Time-varying Communication

Multi-agent mapping is a fundamentally important capability for autonomo...

0 James Di, et al. ∙

research

∙ 09/21/2021

Learning Adaptive Control for SE(3) Hamiltonian Dynamics

Fast adaptive control is a critical component for reliable robot autonom...

0 Thai Duong, et al. ∙

research

∙ 08/01/2021

ELLIPSDF: Joint Object Pose and Shape Optimization with a Bi-level Ellipsoid and Signed Distance Function Description

Autonomous systems need to understand the semantics and geometry of thei...

0 Mo Shan, et al. ∙

research

∙ 07/23/2021

A Deep Signed Directional Distance Function for Object Shape Representation

Neural networks that map 3D coordinates to signed distance function (SDF...

2 Ehsan Zobeidi, et al. ∙

research

∙ 06/24/2021

Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control

Accurate models of robot dynamics are critical for safe and stable contr...

0 Thai Duong, et al. ∙

research

∙ 03/30/2021

Dense Incremental Metric-Semantic Mapping for Multi-Agent Systems via Sparse Gaussian Process Regression

We develop an online probabilistic metric-semantic mapping approach for ...

0 Ehsan Zobeidi, et al. ∙

research

∙ 03/11/2021

CORSAIR: Convolutional Object Retrieval and Symmetry-AIded Registration

This paper considers online object-level mapping using partial point-clo...

0 Tianyu Zhao, et al. ∙

research

∙ 03/10/2021

Inverse Reinforcement Learning of Autonomous Behaviors Encoded as Weighted Finite Automata

This paper presents a method for learning logical task specifications an...

0 Tianyu Wang, et al. ∙

research

∙ 03/10/2021

Active Exploration and Mapping via Iterative Covariance Regulation over Continuous SE(3) Trajectories

This paper develops iterative Covariance Regulation (iCR), a novel metho...

0 Shumon Koga, et al. ∙

research

∙ 03/08/2021

Fully Convolutional Geometric Features for Category-level Object Alignment

This paper focuses on pose registration of different object instances fr...

0 Qiaojun Feng, et al. ∙

research

∙ 03/08/2021

Localization and Mapping using Instance-specific Mesh Models

This paper focuses on building semantic maps, containing object poses an...

0 Qiaojun Feng, et al. ∙

research

∙ 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 ...

1 Xiaoyi Cai, et al. ∙

research

∙ 01/07/2021

Coding for Distributed Multi-Agent Reinforcement Learning

This paper aims to mitigate straggler effects in synchronous distributed...

0 Baoqian Wang, et al. ∙

research

∙ 01/06/2021

Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning

This paper addresses outdoor terrain mapping using overhead images obtai...

9 Qiaojun Feng, et al. ∙

research

∙ 01/06/2021

Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observation

Many robot applications call for autonomous exploration and mapping of u...

0 Arash Asgharivaskasi, et al. ∙

research

∙ 01/01/2021

Inverse reinforcement learning for autonomous navigation via differentiable semantic mapping and planning

This paper focuses on inverse reinforcement learning for autonomous navi...

6 Tianyu Wang, et al. ∙

research

∙ 12/29/2020

Control Barriers in Bayesian Learning of System Dynamics

This paper focuses on learning a model of system dynamics online while s...

0 Vikas Dhiman, et al. ∙

research

∙ 11/03/2020

Learning Barrier Functions with Memory for Robust Safe Navigation

Control barrier functions are widely used to enforce safety properties i...

0 Kehan Long, et al. ∙

research

∙ 09/15/2020

Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping

This paper focuses on online occupancy mapping and real-time collision c...

0 Thai Duong, et al. ∙

research

∙ 07/29/2020

OrcVIO: Object residual constrained Visual-Inertial Odometry

Introducing object-level semantic information into simultaneous localiza...

9 Mo Shan, et al. ∙

research

∙ 06/09/2020

Learning Navigation Costs from Demonstration with Semantic Observations

This paper focuses on inverse reinforcement learning (IRL) for autonomou...

5 Tianyu Wang, et al. ∙

research

∙ 05/14/2020

Safe Robot Navigation in Cluttered Environments using Invariant Ellipsoids and a Reference Governor

This paper considers the problem of safe autonomous navigation in unknow...

0 Zhichao Li, et al. ∙

research

∙ 02/26/2020

Learning Navigation Costs from Demonstration in Partially Observable Environments

This paper focuses on inverse reinforcement learning (IRL) to enable saf...

1 Tianyu Wang, et al. ∙

research

∙ 02/05/2020

Fast and Safe Path-Following Control using a State-Dependent Directional Metric

This paper considers the problem of fast and safe autonomous navigation ...

0 Zhichao Li, et al. ∙

research

∙ 02/05/2020

Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping

This paper focuses on real-time occupancy mapping and collision checking...

0 Thai Duong, et al. ∙

research

∙ 12/20/2019

Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics

This paper focuses on learning a model of system dynamics online while s...

0 Mohammad Javad Khojasteh, et al. ∙

research

∙ 10/23/2019

Large Scale Model Predictive Control with Neural Networks and Primal Active Sets

This work presents an explicit-implicit procedure that combines an offli...

34 Steven W. Chen, et al. ∙

Nikolay Atanasov

Featured Co-authors