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05/11/2023
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment
Scaling to arbitrarily large bundle adjustment problems requires data an...
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12/06/2022
Scale-Invariant Specifications for Human-Swarm Systems
We present a method for controlling a swarm using its spectral decomposi...
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09/26/2022
Scale-Invariant Fast Functional Registration
Functional registration algorithms represent point clouds as functions (...
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07/30/2021
Majorization Minimization Methods for Distributed Pose Graph Optimization
We consider the problem of distributed pose graph optimization (PGO) tha...
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06/25/2021
Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation
Cooperatively avoiding collision is a critical functionality for robots ...
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05/28/2021
Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation
We propose a novel sparse constrained formulation and from it derive a r...
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03/31/2021
Ergodic imitation: Learning from what to do and what not to do
With growing access to versatile robotics, it is beneficial for end user...
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12/04/2020
Generalized Proximal Methods for Pose Graph Optimization
In this paper, we generalize proximal methods that were originally desig...
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06/30/2020
Formalizing and Guaranteeing* Human-Robot Interaction
Robot capabilities are maturing across domains, from self-driving cars, ...
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06/25/2020
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation
In this paper, we consider the problem of planar graph-based simultaneou...
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06/12/2020
Data-driven Koopman Operators for Model-based Shared Control of Human-Machine Systems
We present a data-driven shared control algorithm that can be used to im...
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06/10/2020
Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation
This paper presents a formulation for swarm control and high-level task ...
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03/11/2020
Majorization Minimization Methods to Distributed Pose Graph Optimization with Convergence Guarantees
In this paper, we consider the problem of distributed pose graph optimiz...
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03/08/2020
Bayesian Particles on Cyclic Graphs
We consider the problem of designing synthetic cells to achieve a comple...
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11/18/2019
Task-Based Hybrid Shared Control for Training Through Forceful Interaction
Despite the fact that robotic platforms can provide both consistent prac...
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06/05/2019
Highly Parallelized Data-driven MPC for Minimal Intervention Shared Control
We present a shared control paradigm that improves a user's ability to o...
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05/26/2019
Operation and Imitation under Safety-Aware Shared Control
We describe a shared control methodology that can, without knowledge of ...
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04/29/2019
Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization
This paper addresses the problem of efficiently computing higher-order v...
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02/28/2019
Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device
Hybrid systems, such as bipedal walkers, are challenging to control beca...
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08/24/2018
Learning Models for Shared Control of Human-Machine Systems with Unknown Dynamics
We present a novel approach to shared control of human-machine systems. ...
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08/03/2018