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04/24/2023
MOTLEE: Distributed Mobile Multi-Object Tracking with Localization Error Elimination
We present MOTLEE, a distributed mobile multi-object tracking algorithm ...
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03/10/2023
Robust MADER: Decentralized Multiagent Trajectory Planner Robust to Communication Delay in Dynamic Environments
Communication delays can be catastrophic for multiagent systems. However...
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03/08/2023
Global Localization in Unstructured Environments using Semantic Object Maps Built from Various Viewpoints
We present a novel framework for global localization and guided relocali...
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12/24/2022
GraffMatch: Global Matching of 3D Lines and Planes for Wide Baseline LiDAR Registration
Using geometric landmarks like lines and planes can increase navigation ...
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10/15/2022
MIXER: Multiattribute, Multiway Fusion of Uncertain Pairwise Affinities
We present a multiway fusion algorithm capable of directly processing un...
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09/27/2022
Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay
Although communication delays can disrupt multiagent systems, most of th...
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05/17/2022
Global Data Association for SLAM with 3D Grassmannian Manifold Objects
Using pole and plane objects in lidar SLAM can increase accuracy and dec...
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11/29/2021
MIXER: A Principled Framework for Multimodal, Multiway Data Association
A fundamental problem in robotic perception is matching identical object...
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11/20/2020
CLIPPER: A Graph-Theoretic Framework for Robust Data Association
We present CLIPPER (Consistent LInking, Pruning, and Pairwise Error Rect...
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03/04/2020