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09/19/2023
Mobile Manipulation Platform for Autonomous Indoor Inspections in Low-Clearance Areas
Mobile manipulators have been used for inspection, maintenance and repai...
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08/10/2023
A Robust and Rapidly Deployable Waypoint Navigation Architecture for Long-Duration Operations in GPS-Denied Environments
For long-duration operations in GPS-denied environments, accurate and re...
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07/30/2023
Robust Unmanned Surface Vehicle Navigation with Distributional Reinforcement Learning
Autonomous navigation of Unmanned Surface Vehicles (USV) in marine envir...
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04/19/2023
Robust Route Planning with Distributional Reinforcement Learning in a Stochastic Road Network Environment
Route planning is essential to mobile robot navigation problems. In rece...
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03/10/2023
Monocular Simultaneous Localization and Mapping using Ground Textures
Recent work has shown impressive localization performance using only ima...
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10/03/2022
DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams
An essential task for a multi-robot system is generating a common unders...
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04/22/2022
A Fully-autonomous Framework of Unmanned Surface Vehicles in Maritime Environments using Gaussian Process Motion Planning
Unmanned surface vehicles (USVs) are of increasing importance to a growi...
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02/16/2022
Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments
We consider the problem of autonomous mobile robot exploration in an unk...
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02/11/2022
Overhead Image Factors for Underwater Sonar-based SLAM
Simultaneous localization and mapping (SLAM) is a critical capability fo...
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05/11/2021
Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration Under Uncertainty
This paper studies the problem of autonomous exploration under localizat...
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04/22/2021
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
We propose a framework for tightly-coupled lidar-visual-inertial odometr...
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04/07/2021
Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference
Recent work has achieved dense 3D reconstruction with wide-aperture imag...
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04/05/2021
Fast Design Space Exploration of Nonlinear Systems: Part I
System design tools are often only available as blackboxes with complex ...
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03/03/2021
Robust Place Recognition using an Imaging Lidar
We propose a methodology for robust, real-time place recognition using a...
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10/19/2020
Robot Design With Neural Networks, MILP Solvers and Active Learning
Central to the design of many robot systems and their controllers is sol...
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08/02/2020
Variational Filtering with Copula Models for SLAM
The ability to infer map variables and estimate pose is crucial to the o...
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07/24/2020
Autonomous Exploration Under Uncertainty via Deep Reinforcement Learning on Graphs
We consider an autonomous exploration problem in which a range-sensing m...
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07/20/2020
Fusing Concurrent Orthogonal Wide-aperture Sonar Images for Dense Underwater 3D Reconstruction
We propose a novel approach to handling the ambiguity in elevation angle...
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07/16/2020
A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways
We propose a novel receding horizon planner for an autonomous surface ve...
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07/01/2020
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
We propose a framework for tightly-coupled lidar inertial odometry via s...
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04/10/2020
Simulation-based Lidar Super-resolution for Ground Vehicles
We propose a methodology for lidar super-resolution with ground vehicles...
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09/05/2019
A Lexicographic Search Method for Multi-Objective Motion Planning
We consider multi-objective motion planning problems in which two compet...
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05/17/2019
Stochastically Dominant Distributional Reinforcement Learning
We describe a new approach for mitigating risk in the Reinforcement Lear...
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11/17/2018
Recursive Sparse Pseudo-input Gaussian Process SARSA
The class of Gaussian Process (GP) methods for Temporal Difference learn...
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10/02/2018