b'Vijay Kumar'

research

∙ 09/20/2023

TOPPQuad: Dynamically-Feasible Time Optimal Path Parametrization for Quadrotors

Planning time-optimal trajectories for quadrotors in cluttered environme...

0 Katherine Mao, et al. ∙

research

∙ 09/18/2023

Asynchronous Perception-Action-Communication with Graph Neural Networks

Collaboration in large robot swarms to achieve a common global objective...

0 Saurav Agarwal, et al. ∙

research

∙ 09/13/2023

Learning to Explore Indoor Environments using Autonomous Micro Aerial Vehicles

In this paper, we address the challenge of exploring unknown indoor aeri...

0 Yuezhan Tao, et al. ∙

research

∙ 09/13/2023

3D Active Metric-Semantic SLAM

In this letter, we address the problem of exploration and metric-semanti...

0 Yuezhan Tao, et al. ∙

research

∙ 08/13/2023

Robust Localization of Aerial Vehicles via Active Control of Identical Ground Vehicles

This paper addresses the problem of active collaborative localization in...

0 Igor Spasojevic, et al. ∙

research

∙ 07/25/2023

A Data-Driven Approach to Synthesizing Dynamics-Aware Trajectories for Underactuated Robotic Systems

We consider joint trajectory generation and tracking control for under-a...

0 Anusha Srikanthan, et al. ∙

research

∙ 06/14/2023

A Networked Multi-Agent System for Mobile Wireless Infrastructure on Demand

Despite the prevalence of wireless connectivity in urban areas around th...

0 Miguel Calvo-Fullana, et al. ∙

research

∙ 06/07/2023

RotorPy: A Python-based Multirotor Simulator with Aerodynamics for Education and Research

Simulators play a critical role in aerial robotics both in and out of th...

0 Spencer Folk, et al. ∙

research

∙ 05/29/2023

Active Collaborative Localization in Heterogeneous Robot Teams

Accurate and robust state estimation is critical for autonomous navigati...

0 Igor Spasojevic, et al. ∙

research

∙ 05/16/2023

Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization

Differential flatness enables efficient planning and control for underac...

0 Jake Welde, et al. ∙

research

∙ 04/05/2023

Dynamic Adversarial Resource Allocation: the dDAB Game

This work proposes a dynamic and adversarial resource allocation problem...

0 Daigo Shishika, et al. ∙

research

∙ 03/27/2023

A Compositional Approach to Certifying the Almost Global Asymptotic Stability of Cascade Systems

In this work, we give sufficient conditions for the almost global asympt...

0 Jake Welde, et al. ∙

research

∙ 01/23/2023

Graph Neural Networks for Decentralized Multi-Agent Perimeter Defense

In this work, we study the problem of decentralized multi-agent perimete...

6 Elijah S. Lee, et al. ∙

research

∙ 12/16/2022

Resource-Interaction Graph: Efficient Graph Representation for Anomaly Detection

Security research has concentrated on converting operating system audit ...

0 James Pope, et al. ∙

research

∙ 12/16/2022

Reinforcement Learning for Agile Active Target Sensing with a UAV

Active target sensing is the task of discovering and classifying an unkn...

0 Harsh Goel, et al. ∙

research

∙ 11/03/2022

LE3D: A Lightweight Ensemble Framework of Data Drift Detectors for Resource-Constrained Devices

Data integrity becomes paramount as the number of Internet of Things (Io...

0 Ioannis Mavromatis, et al. ∙

research

∙ 10/07/2022

Multi-Robot Localization and Target Tracking with Connectivity Maintenance and Collision Avoidance

We study the problem that requires a team of robots to perform joint loc...

0 Rahul Zahroof, et al. ∙

research

∙ 09/28/2022

Multi-Robot Coordination and Cooperation with Task Precedence Relationships

We propose a new formulation for the multi-robot task planning and alloc...

0 Walker Gosrich, et al. ∙

research

∙ 09/25/2022

Vision-based Perimeter Defense via Multiview Pose Estimation

Previous studies in the perimeter defense game have largely focused on t...

2 Elijah S. Lee, et al. ∙

research

∙ 09/24/2022

Learning Decentralized Strategies for a Perimeter Defense Game with Graph Neural Networks

We consider the problem of finding decentralized strategies for multi-ag...

0 Elijah S. Lee, et al. ∙

research

∙ 09/23/2022

The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems

Mechanical systems naturally evolve on principal bundles describing thei...

0 Jake Welde, et al. ∙

research

∙ 09/23/2022

Multi-Agent Exploration of an Unknown Sparse Landmark Complex via Deep Reinforcement Learning

In recent years Landmark Complexes have been successfully employed for l...

0 Xiatao Sun, et al. ∙

research

∙ 09/22/2022

SEER: Safe Efficient Exploration for Aerial Robots using Learning to Predict Information Gain

We address the problem of efficient 3-D exploration in indoor environmen...

0 Yuezhan Tao, et al. ∙

research

∙ 09/18/2022

Active Metric-Semantic Mapping by Multiple Aerial Robots

Traditional approaches for active mapping focus on building geometric ma...

0 Xu Liu, et al. ∙

research

∙ 09/09/2022

Resilient Consensus via Voronoi Communication Graphs

Consensus algorithms form the foundation for many distributed algorithms...

0 Kelsey Saulnier, et al. ∙

research

∙ 08/11/2022

Adaptive Sampling of Latent Phenomena using Heterogeneous Robot Teams (ASLaP-HR)

In this paper, we present an online adaptive planning strategy for a tea...

0 Matthew Malencia, et al. ∙

research

∙ 08/04/2022

Decentralized Risk-Aware Tracking of Multiple Targets

We consider the setting where a team of robots is tasked with tracking m...

0 Jiazhen Liu, et al. ∙

research

∙ 07/15/2022

MARLAS: Multi Agent Reinforcement Learning for cooperated Adaptive Sampling

The multi-robot adaptive sampling problem aims at finding trajectories f...

0 Lishuo Pan, et al. ∙

research

∙ 06/28/2022

Stronger Together: Air-Ground Robotic Collaboration Using Semantics

In this work, we present an end-to-end heterogeneous multi-robot system ...

0 Ian D. Miller, et al. ∙

research

∙ 06/13/2022

Learning Fashion Compatibility from In-the-wild Images

Complementary fashion recommendation aims at identifying items from diff...

15 Additya Popli, et al. ∙

research

∙ 04/08/2022

Path Defense in Dynamic Defender-Attacker Blotto Games (dDAB) with Limited Information

We consider a path guarding problem in dynamic Defender-Attacker Blotto ...

0 Austin K. Chen, et al. ∙

research

∙ 03/16/2022

Any Way You Look At It: Semantic Crossview Localization and Mapping with LiDAR

Currently, GPS is by far the most popular global localization method. Ho...

0 Ian D. Miller, et al. ∙

research

∙ 03/02/2022

Experiments in Adaptive Replanning for Fast Autonomous Flight in Forests

Fast, autonomous flight in unstructured, cluttered environments such as ...

0 Laura Jarin-Lipschitz, et al. ∙

research

∙ 02/21/2022

RTGNN: A Novel Approach to Model Stochastic Traffic Dynamics

Modeling stochastic traffic dynamics is critical to developing self-driv...

1 Ke Sun, et al. ∙

research

∙ 12/18/2021

Dynamic Defender-Attacker Blotto Game

This work studies a dynamic, adversarial resource allocation problem in ...

0 Daigo Shishika, et al. ∙

research

∙ 12/14/2021

Learning Connectivity-Maximizing Network Configurations

In this work we propose a data-driven approach to optimizing the algebra...

0 Daniel Mox, et al. ∙

research

∙ 09/30/2021

Coverage Control in Multi-Robot Systems via Graph Neural Networks

This paper develops a decentralized approach to mobile sensor coverage b...

0 Walker Gosrich, et al. ∙

research

∙ 09/25/2021

Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems

Robustness is key to engineering, automation, and science as a whole. Ho...

4 Amanda Prorok, et al. ∙

research

∙ 09/21/2021

Infrastructure Node-based Vehicle Localization for Autonomous Driving

Vehicle localization is essential for autonomous vehicle (AV) navigation...

0 Elijah S. Lee, et al. ∙

research

∙ 09/20/2021

Robust Multi-Robot Active Target Tracking Against Sensing and Communication Attacks

The problem of multi-robot target tracking asks for actively planning th...

0 Lifeng Zhou, et al. ∙

research

∙ 09/16/2021

Semi-Supervised Visual Representation Learning for Fashion Compatibility

We consider the problem of complementary fashion prediction. Existing ap...

5 Ambareesh Revanur, et al. ∙

research

∙ 09/14/2021

Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy

In this letter, we propose an integrated autonomous flight and semantic ...

18 Xu Liu, et al. ∙

research

∙ 09/07/2021

Defending a Perimeter from a Ground Intruder Using an Aerial Defender: Theory and Practice

The perimeter defense game has received interest in recent years as a va...

0 Elijah S. Lee, et al. ∙

research

∙ 05/18/2021

Graph Neural Networks for Decentralized Multi-Robot Submodular Action Selection

In this paper, we develop a learning-based approach for decentralized su...

8 Lifeng Zhou, et al. ∙

research

∙ 05/09/2021

Adaptive and Risk-Aware Target Tracking with Heterogeneous Robot Teams

We consider a scenario where a team of robots with heterogeneous sensors...

0 Siddharth Mayya, et al. ∙

research

∙ 03/26/2021

Dispersion-Minimizing Motion Primitives for Search-Based Motion Planning

Search-based planning with motion primitives is a powerful motion planni...

0 Laura Jarin-Lipschitz, et al. ∙

research

∙ 03/08/2021

Learning Connectivity for Data Distribution in Robot Teams

Many algorithms for control of multi-robot teams operate under the assum...

4 Ekaterina Tolstaya, et al. ∙

research

∙ 02/11/2021

Large Scale Distributed Collaborative Unlabeled Motion Planning with Graph Policy Gradients

In this paper, we present a learning method to solve the unlabelled moti...

5 Arbaaz Khan, et al. ∙

research

∙ 02/11/2021

Fair Robust Assignment using Redundancy

We study the consideration of fairness in redundant assignment for multi...

0 Matthew Malencia, et al. ∙

research

∙ 02/10/2021

Belief Space Planning for Mobile Robots with Range Sensors using iLQG

In this work, we use iterative Linear Quadratic Gaussian (iLQG) to plan ...

0 Ke Sun, et al. ∙

Vijay Kumar

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