Vijay Kumar

is this you? claim profile

∙ 0 followers
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

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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
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

read it
Dense 3-D Mapping with Spatial Correlation via Gaussian Filtering

Constructing an occupancy representation of the environment is a fundame...
01/23/2018 ∙ by Ke Sun, et al. ∙ 0 ∙ share

read it

Vijay Kumar

Featured Co-authors