
-
Neurosymbolic Transformers for Multi-Agent Communication
We study the problem of inferring communication structures that can solv...
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...
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...
read it
-
Multi-Robot Coverage and Exploration using Spatial Graph Neural Networks
The multi-robot coverage problem is an essential building block for syst...
read it
-
The Role of Robotics in Infectious Disease Crises
The recent coronavirus pandemic has highlighted the many challenges face...
read it
-
Place Recognition in Forests with Urquhart Tessellations
In this letter we present a novel descriptor based on polygons derived f...
read it
-
PennSyn2Real: Training Object Recognition Models without Human Labeling
Scalability is a critical problem in generating training images for deep...
read it
-
Resilient Task Allocation in Heterogeneous Multi-Robot Systems
For a multi-robot system equipped with heterogeneous capabilities, this ...
read it
-
Feedback Enhanced Motion Planning for Autonomous Vehicles
In this work, we address the motion planning problem for autonomous vehi...
read it
-
Evaluating Robust, Perception Based Control with Quadrotors
Traditionally, controllers and state estimators in robotic systems are d...
read it
-
TLIO: Tight Learned Inertial Odometry
In this work we propose a tightly-coupled Extended Kalman Filter framewo...
read it
-
Graph Neural Networks for Motion Planning
This paper investigates the feasibility of using Graph Neural Networks (...
read it
-
Mobile Wireless Network Infrastructure on Demand
In this work, we introduce Mobile Wireless Infrastructure on Demand: a f...
read it
-
SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory
This paper describes an end-to-end pipeline for tree diameter estimation...
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...
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...
read it
-
Mine Tunnel Exploration using Multiple Quadrupedal Robots
Robotic exploration of underground environments is a particularly challe...
read it
-
PST900: RGB-Thermal Calibration, Dataset and Segmentation Network
In this work we propose long wave infrared (LWIR) imagery as a viable su...
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...
read it
-
Learning Safe Unlabeled Multi-Robot Planning with Motion Constraints
In this paper, we present a learning approach to goal assignment and tra...
read it
-
Graph Policy Gradients for Large Scale Robot Control
In this paper, we consider the problem of learning policies to control a...
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...
read it
-
MAVNet: an Effective Semantic Segmentation Micro-Network for MAV-based Tasks
Real-time image semantic segmentation is an essential capability to enha...
read it
-
Learning Decentralized Controllers for Robot Swarms with Graph Neural Networks
We consider the problem of finding distributed controllers for large net...
read it
-
Inverse Optimal Planning for Air Traffic Control
We envision a system that concisely describes the rules of air traffic c...
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...
read it
-
Nuclear Environments Inspection with Micro Aerial Vehicles: Algorithms and Experiments
In this work, we address the estimation, planning, control and mapping p...
read it
-
Learning Task Agnostic Sufficiently Accurate Models
For complex real-world systems, designing controllers are a difficult ta...
read it
-
Decentralization of Multiagent Policies by Learning What to Communicate
Effective communication is required for teams of robots to solve sophist...
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...
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...
read it
-
Towards Search-based Motion Planning for Micro Aerial Vehicles
Search-based motion planning has been used for mobile robots in many app...
read it
-
Stochastic 2-D Motion Planning with a POMDP Framework
Motion planning is challenging when it comes to the case of imperfect st...
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...
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...
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...
read it
-
Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight
High speed navigation through unknown environments is a challenging prob...
read it
-
Scalable Centralized Deep Multi-Agent Reinforcement Learning via Policy Gradients
In this paper, we explore using deep reinforcement learning for problems...
read it
-
Human Motion Capture Using a Drone
Current motion capture (MoCap) systems generally require markers and mul...
read it
-
Robust Fruit Counting: Combining Deep Learning, Tracking, and Structure from Motion
We present a novel fruit counting pipeline that combines deep segmentati...
read it
-
Learning Sample-Efficient Target Reaching for Mobile Robots
In this paper, we propose a novel architecture and a self-supervised pol...
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 ...
read it
-
Dense 3-D Mapping with Spatial Correlation via Gaussian Filtering
Constructing an occupancy representation of the environment is a fundame...
read it
-
Fast, Autonomous Flight in GPS-Denied and Cluttered Environments
One of the most challenging tasks for a flying robot is to autonomously ...
read it
-
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
In recent years, vision-aided inertial odometry for state estimation has...
read it
-
Search-based Motion Planning for Aggressive Flight in SE(3)
Quadrotors with large thrust-to-weight ratios are able to track aggressi...
read it
-
Memory Augmented Control Networks
Planning problems in partially observable environments cannot be solved ...
read it
-
Unsupervised Deep Homography: A Fast and Robust Homography Estimation Model
This paper develops an unsupervised learning algorithm that trains a Dee...
read it
-
Pose-Aware Person Recognition
Person recognition methods that use multiple body regions have shown sig...
read it
-
DimensionApp : android app to estimate object dimensions
In this project, we develop an android app that uses on computer vision ...
read it