b'Vijay Kumar'

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...

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...

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 ...

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...

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 ...

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...

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 ...

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...

Ke Sun, et al. ∙

research

∙ 12/18/2021

Dynamic Defender-Attacker Blotto Game

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

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...

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...

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...

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...

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...

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...

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 ...

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...

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...

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...

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...

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...

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...

Arbaaz Khan, et al. ∙

research

∙ 02/11/2021

Fair Robust Assignment using Redundancy

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

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 ...

Ke Sun, et al. ∙

research

∙ 01/25/2021

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...

Miguel Calvo-Fullana, et al. ∙

research

∙ 01/05/2021

Neurosymbolic Transformers for Multi-Agent Communication

We study the problem of inferring communication structures that can solv...

Jeevana Priya Inala, et al. ∙

research

∙ 12/29/2020

Perimeter-defense Game between Aerial Defender and Ground Intruder

We study a variant of pursuit-evasion game in the context of perimeter d...

Elijah S. Lee, et al. ∙

research

∙ 11/24/2020

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...

Ke Sun, et al. ∙

research

∙ 11/02/2020

Multi-Robot Coverage and Exploration using Spatial Graph Neural Networks

The multi-robot coverage problem is an essential building block for syst...

Ekaterina Tolstaya, et al. ∙

research

∙ 10/19/2020

The Role of Robotics in Infectious Disease Crises

The recent coronavirus pandemic has highlighted the many challenges face...

Gregory Hager, et al. ∙

research

∙ 09/23/2020

Place Recognition in Forests with Urquhart Tessellations

In this letter we present a novel descriptor based on polygons derived f...

Guilherme V. Nardari, et al. ∙

research

∙ 09/22/2020

PennSyn2Real: Training Object Recognition Models without Human Labeling

Scalability is a critical problem in generating training images for deep...

Ty Nguyen, et al. ∙

research

∙ 09/09/2020

Resilient Task Allocation in Heterogeneous Multi-Robot Systems

For a multi-robot system equipped with heterogeneous capabilities, this ...

Siddharth Mayya, et al. ∙

research

∙ 07/11/2020

Feedback Enhanced Motion Planning for Autonomous Vehicles

In this work, we address the motion planning problem for autonomous vehi...

Ke Sun, et al. ∙

research

∙ 07/08/2020

Evaluating Robust, Perception Based Control with Quadrotors

Traditionally, controllers and state estimators in robotic systems are d...

Laura Jarin-Lipschitz, et al. ∙

research

∙ 07/06/2020

TLIO: Tight Learned Inertial Odometry

In this work we propose a tightly-coupled Extended Kalman Filter framewo...

Wenxin Liu, et al. ∙

research

∙ 06/11/2020

Graph Neural Networks for Motion Planning

This paper investigates the feasibility of using Graph Neural Networks (...

Arbaaz Khan, et al. ∙

research

∙ 02/07/2020

Mobile Wireless Network Infrastructure on Demand

In this work, we introduce Mobile Wireless Infrastructure on Demand: a f...

Daniel Mox, et al. ∙

research

∙ 12/29/2019

SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory

This paper describes an end-to-end pipeline for tree diameter estimation...

Steven W. Chen, et al. ∙

research

∙ 10/23/2019

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

This work presents an explicit-implicit procedure that combines an offli...

Steven W. Chen, et al. ∙

research

∙ 09/24/2019

Graph Policy Gradients for Large Scale Unlabeled Motion Planning with Constraints

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

Arbaaz Khan, et al. ∙

research

∙ 09/20/2019

Mine Tunnel Exploration using Multiple Quadrupedal Robots

Robotic exploration of underground environments is a particularly challe...

Ian D. Miller, et al. ∙

research

∙ 09/20/2019

PST900: RGB-Thermal Calibration, Dataset and Segmentation Network

In this work we propose long wave infrared (LWIR) imagery as a viable su...

Shreyas S. Shivakumar, et al. ∙

research

∙ 09/18/2019

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...

Ty Nguyen, et al. ∙

research

∙ 07/11/2019

Learning Safe Unlabeled Multi-Robot Planning with Motion Constraints

In this paper, we present a learning approach to goal assignment and tra...

Arbaaz Khan, et al. ∙

research

∙ 07/08/2019

Graph Policy Gradients for Large Scale Robot Control

In this paper, we consider the problem of learning policies to control a...

Arbaaz Khan, et al. ∙

research

∙ 04/18/2019

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...

Thanh-Toan Do, et al. ∙

research

∙ 04/03/2019

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

Real-time image semantic segmentation is an essential capability to enha...

Ty Nguyen, et al. ∙

research

∙ 03/25/2019

Learning Decentralized Controllers for Robot Swarms with Graph Neural Networks

We consider the problem of finding distributed controllers for large net...

Ekaterina Tolstaya, et al. ∙

research

∙ 03/25/2019

Inverse Optimal Planning for Air Traffic Control

We envision a system that concisely describes the rules of air traffic c...

Ekaterina Tolstaya, et al. ∙

Vijay Kumar

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