Vijay Kumar

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University of Pennsylvania

Nemirovsky Family Dean of Penn Engineering with appointments in the Departments of Mechanical Engineering and Applied Mechanics, Computer and Information Science, and Electrical and Systems Engineering at the University of Pennsylvania

Graph Neural Networks for Decentralized Multi-Robot Submodular Action Selection

In this paper, we develop a learning-based approach for decentralized su...
05/18/2021 ∙ by Lifeng Zhou, et al. ∙ 8 ∙ share

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Adaptive and Risk-Aware Target Tracking with Heterogeneous Robot Teams

We consider a scenario where a team of robots with heterogeneous sensors...
05/09/2021 ∙ by Siddharth Mayya, et al. ∙ 0 ∙ share

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Dispersion-Minimizing Motion Primitives for Search-Based Motion Planning

Search-based planning with motion primitives is a powerful motion planni...
03/26/2021 ∙ by Laura Jarin-Lipschitz, et al. ∙ 0 ∙ share

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Learning Connectivity for Data Distribution in Robot Teams

Many algorithms for control of multi-robot teams operate under the assum...
03/08/2021 ∙ by Ekaterina Tolstaya, et al. ∙ 4 ∙ share

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Large Scale Distributed Collaborative Unlabeled Motion Planning with Graph Policy Gradients

In this paper, we present a learning method to solve the unlabelled moti...
02/11/2021 ∙ by Arbaaz Khan, et al. ∙ 5 ∙ share

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Fair Robust Assignment using Redundancy

We study the consideration of fairness in redundant assignment for multi...
02/11/2021 ∙ by Matthew Malencia, et al. ∙ 0 ∙ share

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Belief Space Planning for Mobile Robots with Range Sensors using iLQG

In this work, we use iterative Linear Quadratic Gaussian (iLQG) to plan ...
02/10/2021 ∙ by Ke Sun, et al. ∙ 0 ∙ share

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ROS-NetSim: A Framework for the Integration of Robotic and Network Simulators

Multi-agent systems play an important role in modern robotics. Due to th...
01/25/2021 ∙ by Miguel Calvo-Fullana, et al. ∙ 0 ∙ share

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Neurosymbolic Transformers for Multi-Agent Communication

We study the problem of inferring communication structures that can solv...
01/05/2021 ∙ by Jeevana Priya Inala, et al. ∙ 7 ∙ share

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Perimeter-defense Game between Aerial Defender and Ground Intruder

We study a variant of pursuit-evasion game in the context of perimeter d...
12/29/2020 ∙ by Elijah S. Lee, et al. ∙ 0 ∙ share

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Stochastic Motion Planning under Partial Observability for Mobile Robots with Continuous Range Measurements

In this paper, we address the problem of stochastic motion planning unde...
11/24/2020 ∙ by Ke Sun, et al. ∙ 0 ∙ share

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Multi-Robot Coverage and Exploration using Spatial Graph Neural Networks

The multi-robot coverage problem is an essential building block for syst...
11/02/2020 ∙ by Ekaterina Tolstaya, et al. ∙ 0 ∙ share

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The Role of Robotics in Infectious Disease Crises

The recent coronavirus pandemic has highlighted the many challenges face...
10/19/2020 ∙ by Gregory Hager, et al. ∙ 0 ∙ share

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Place Recognition in Forests with Urquhart Tessellations

In this letter we present a novel descriptor based on polygons derived f...
09/23/2020 ∙ by Guilherme V. Nardari, et al. ∙ 0 ∙ share

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PennSyn2Real: Training Object Recognition Models without Human Labeling

Scalability is a critical problem in generating training images for deep...
09/22/2020 ∙ by Ty Nguyen, et al. ∙ 9 ∙ share

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Resilient Task Allocation in Heterogeneous Multi-Robot Systems

For a multi-robot system equipped with heterogeneous capabilities, this ...
09/09/2020 ∙ by Siddharth Mayya, et al. ∙ 0 ∙ share

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Feedback Enhanced Motion Planning for Autonomous Vehicles

In this work, we address the motion planning problem for autonomous vehi...
07/11/2020 ∙ by Ke Sun, et al. ∙ 0 ∙ share

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Evaluating Robust, Perception Based Control with Quadrotors

Traditionally, controllers and state estimators in robotic systems are d...
07/08/2020 ∙ by Laura Jarin-Lipschitz, et al. ∙ 0 ∙ share

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TLIO: Tight Learned Inertial Odometry

In this work we propose a tightly-coupled Extended Kalman Filter framewo...
07/06/2020 ∙ by Wenxin Liu, et al. ∙ 0 ∙ share

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Graph Neural Networks for Motion Planning

This paper investigates the feasibility of using Graph Neural Networks (...
06/11/2020 ∙ by Arbaaz Khan, et al. ∙ 6 ∙ share

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Mobile Wireless Network Infrastructure on Demand

In this work, we introduce Mobile Wireless Infrastructure on Demand: a f...
02/07/2020 ∙ by Daniel Mox, et al. ∙ 0 ∙ share

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SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory

This paper describes an end-to-end pipeline for tree diameter estimation...
12/29/2019 ∙ by Steven W. Chen, et al. ∙ 22 ∙ share

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

This work presents an explicit-implicit procedure that combines an offli...
10/23/2019 ∙ by Steven W. Chen, et al. ∙ 34 ∙ share

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Graph Policy Gradients for Large Scale Unlabeled Motion Planning with Constraints

In this paper, we present a learning method to solve the unlabelled moti...
09/24/2019 ∙ by Arbaaz Khan, et al. ∙ 0 ∙ share

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Mine Tunnel Exploration using Multiple Quadrupedal Robots

Robotic exploration of underground environments is a particularly challe...
09/20/2019 ∙ by Ian D. Miller, et al. ∙ 0 ∙ share

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PST900: RGB-Thermal Calibration, Dataset and Segmentation Network

In this work we propose long wave infrared (LWIR) imagery as a viable su...
09/20/2019 ∙ by Shreyas S. Shivakumar, et al. ∙ 6 ∙ share

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Vision-based Multi-MAV Localization with Anonymous Relative Measurements Using Coupled Probabilistic Data Association Filter

We address the localization of robots in a multi-MAV system where extern...
09/18/2019 ∙ by Ty Nguyen, et al. ∙ 0 ∙ share

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Learning Safe Unlabeled Multi-Robot Planning with Motion Constraints

In this paper, we present a learning approach to goal assignment and tra...
07/11/2019 ∙ by Arbaaz Khan, et al. ∙ 0 ∙ share

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Graph Policy Gradients for Large Scale Robot Control

In this paper, we consider the problem of learning policies to control a...
07/08/2019 ∙ by Arbaaz Khan, et al. ∙ 0 ∙ share

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A Theoretically Sound Upper Bound on the Triplet Loss for Improving the Efficiency of Deep Distance Metric Learning

We propose a method that substantially improves the efficiency of deep d...
04/18/2019 ∙ by Thanh-Toan Do, et al. ∙ 44 ∙ share

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MAVNet: an Effective Semantic Segmentation Micro-Network for MAV-based Tasks

Real-time image semantic segmentation is an essential capability to enha...
04/03/2019 ∙ by Ty Nguyen, et al. ∙ 20 ∙ share

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Learning Decentralized Controllers for Robot Swarms with Graph Neural Networks

We consider the problem of finding distributed controllers for large net...
03/25/2019 ∙ by Ekaterina Tolstaya, et al. ∙ 0 ∙ share

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Inverse Optimal Planning for Air Traffic Control

We envision a system that concisely describes the rules of air traffic c...
03/25/2019 ∙ by Ekaterina Tolstaya, et al. ∙ 0 ∙ share

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DFineNet: Ego-Motion Estimation and Depth Refinement from Sparse, Noisy Depth Input with RGB Guidance

Depth estimation is an important capability for autonomous vehicles to u...
03/15/2019 ∙ by Yilun Zhang, et al. ∙ 2 ∙ share

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Nuclear Environments Inspection with Micro Aerial Vehicles: Algorithms and Experiments

In this work, we address the estimation, planning, control and mapping p...
03/14/2019 ∙ by Dinesh Thakur, et al. ∙ 0 ∙ share

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Learning Task Agnostic Sufficiently Accurate Models

For complex real-world systems, designing controllers are a difficult ta...
02/19/2019 ∙ by Clark Zhang, et al. ∙ 10 ∙ share

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Decentralization of Multiagent Policies by Learning What to Communicate

Effective communication is required for teams of robots to solve sophist...
01/24/2019 ∙ by James Paulos, et al. ∙ 0 ∙ share

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Robustness Meets Deep Learning: An End-to-End Hybrid Pipeline for Unsupervised Learning of Egomotion

In this work, we propose a method that combines unsupervised deep learni...
12/20/2018 ∙ by Alex Zihao Zhu, et al. ∙ 6 ∙ share

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Monocular Camera Based Fruit Counting and Mapping with Semantic Data Association

We present a cheap, lightweight, and fast fruit counting pipeline that u...
11/04/2018 ∙ by Xu Liu, et al. ∙ 0 ∙ share

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Towards Search-based Motion Planning for Micro Aerial Vehicles

Search-based motion planning has been used for mobile robots in many app...
10/07/2018 ∙ by Sikang Liu, et al. ∙ 0 ∙ share

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Stochastic 2-D Motion Planning with a POMDP Framework

Motion planning is challenging when it comes to the case of imperfect st...
09/29/2018 ∙ by Ke Sun, et al. ∙ 0 ∙ share

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Real Time Dense Depth Estimation by Fusing Stereo with Sparse Depth Measurements

We present an approach to depth estimation that fuses information from a...
09/20/2018 ∙ by Shreyas S. Shivakumar, et al. ∙ 0 ∙ share

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The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots

In this paper we describe the Open Vision Computer (OVC) which was desig...
09/20/2018 ∙ by Morgan Quigley, et al. ∙ 0 ∙ share

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U-Net for MAV-based Penstock Inspection: an Investigation of Focal Loss in Multi-class Segmentation for Corrosion Identification

Periodical inspection and maintenance of critical infrastructure such as...
09/18/2018 ∙ by Ty Nguyen, et al. ∙ 6 ∙ share

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Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight

High speed navigation through unknown environments is a challenging prob...
06/19/2018 ∙ by Kartik Mohta, et al. ∙ 0 ∙ share

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Scalable Centralized Deep Multi-Agent Reinforcement Learning via Policy Gradients

In this paper, we explore using deep reinforcement learning for problems...
05/22/2018 ∙ by Arbaaz Khan, et al. ∙ 0 ∙ share

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Human Motion Capture Using a Drone

Current motion capture (MoCap) systems generally require markers and mul...
04/17/2018 ∙ by Xiaowei Zhou, et al. ∙ 0 ∙ share

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Robust Fruit Counting: Combining Deep Learning, Tracking, and Structure from Motion

We present a novel fruit counting pipeline that combines deep segmentati...
04/01/2018 ∙ by Xu Liu, et al. ∙ 0 ∙ share

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Learning Sample-Efficient Target Reaching for Mobile Robots

In this paper, we propose a novel architecture and a self-supervised pol...
03/05/2018 ∙ by Arbaaz Khan, et al. ∙ 0 ∙ share

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The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception

Event based cameras are a new passive sensing modality with a number of ...
01/30/2018 ∙ by Alex Zihao Zhu, et al. ∙ 0 ∙ share

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Vijay Kumar

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