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09/19/2023
Heuristic Search for Path Finding with Refuelling
This paper considers a generalization of the Path Finding (PF) with refu...
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09/02/2023
Multi-agent Collective Construction using 3D Decomposition
This paper addresses a Multi-Agent Collective Construction (MACC) proble...
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06/23/2023
Unsupervised Deformable Image Registration for Respiratory Motion Compensation in Ultrasound Images
In this paper, we present a novel deep-learning model for deformable reg...
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06/23/2023
Unsupervised Deformable Ultrasound Image Registration and Its Application for Vessel Segmentation
This paper presents a deep-learning model for deformable registration of...
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02/13/2023
Gait design for limbless obstacle aided locomotion using geometric mechanics
Limbless robots have the potential to maneuver through cluttered environ...
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01/18/2023
Reslicing Ultrasound Images for Data Augmentation and Vessel Reconstruction
Robot-guided catheter insertion has the potential to deliver urgent medi...
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01/11/2023
Analysis of Interior Rubble Void Spaces at Champlain Towers South Collapse
The 2021 Champlain Towers South Condominiums collapse in Surfside, Flori...
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12/06/2022
Enhanced Multi-Objective A* with Partial Expansion
The Multi-Objective Shortest Path Problem, typically posed on a graph, d...
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10/31/2022
Learning Modular Robot Locomotion from Demonstrations
Modular robots can be reconfigured to create a variety of designs from a...
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10/31/2022
Learning Modular Robot Visual-motor Locomotion Policies
Control policy learning for modular robot locomotion has previously been...
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10/20/2022
Mathematical Justification of Hard Negative Mining via Isometric Approximation Theorem
In deep metric learning, the Triplet Loss has emerged as a popular metho...
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10/16/2022
Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization
Robots often have to perform manipulation tasks in close proximity to pe...
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09/23/2022
GLSO: Grammar-guided Latent Space Optimization for Sample-efficient Robot Design Automation
Robots have been used in all sorts of automation, and yet the design of ...
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09/14/2022
iSimLoc: Visual Global Localization for Previously Unseen Environments with Simulated Images
The visual camera is an attractive device in beyond visual line of sight...
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09/09/2022
General Place Recognition Survey: Towards the Real-world Autonomy Age
Place recognition is the fundamental module that can assist Simultaneous...
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09/08/2022
RGB-X Classification for Electronics Sorting
Effectively disassembling and recovering materials from waste electrical...
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07/19/2022
ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization
We present the ALTO dataset, a vision-focused dataset for the developmen...
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07/14/2022
AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments
We present AutoMerge, a LiDAR data processing framework for assembling a...
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07/06/2022
A Local Optimization Framework for Multi-Objective Ergodic Search
Robots have the potential to perform search for a variety of application...
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05/22/2022
ALITA: A Large-scale Incremental Dataset for Long-term Autonomy
For long-term autonomy, most place recognition methods are mainly evalua...
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03/29/2022
Design of a Biomimetic Tactile Sensor for Material Classification
Tactile sensing typically involves active exploration of unknown surface...
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02/18/2022
Enhanced Multi-Objective A* Using Balanced Binary Search Trees
This work addresses the Multi-Objective Shortest Path Problem (MO-SPP): ...
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02/15/2022
A Lower Bounding Framework for Motion Planning amid Dynamic Obstacles in 2D
This work considers a Motion Planning Problem with Dynamic Obstacles (MP...
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02/03/2022
Generalized Omega Turn Gait Enables Agile Limbless Robot Turning in Complex Environments
Reorientation (turning in plane) plays a critical role for all robots in...
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12/23/2021
Learning Cooperative Multi-Agent Policies with Partial Reward Decoupling
One of the preeminent obstacles to scaling multi-agent reinforcement lea...
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12/01/2021
A general locomotion control framework for serially connected multi-legged robots
Serially connected robots are promising candidates for performing tasks ...
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10/27/2021
Autonomous Exploration Development Environment and the Planning Algorithms
Autonomous Exploration Development Environment is an open-source reposit...
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09/29/2021
Subdimensional Expansion Using Attention-Based Learning For Multi-Agent Path Finding
Multi-Agent Path Finding (MAPF) finds conflict-free paths for multiple a...
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08/14/2021
The Geometric Structure of Externally Actuated Planar Locomoting Systems in Ambient Media
Robots often interact with the world via attached parts such as wheels, ...
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08/02/2021
Multi-objective Conflict-based Search Using Safe-interval Path Planning
This paper addresses a generalization of the well known multi-agent path...
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08/02/2021
Multi-Objective Path-Based D* Lite
Incremental graph search algorithms, such as D* Lite, reuse previous sea...
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07/06/2021
Toward Robotically Automated Femoral Vascular Access
Advanced resuscitative technologies, such as Extra Corporeal Membrane Ox...
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05/27/2021
3D Segmentation Learning from Sparse Annotations and Hierarchical Descriptors
One of the main obstacles to 3D semantic segmentation is the significant...
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05/27/2021
i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions
We present a method for localizing a single camera with respect to a poi...
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05/20/2021
Learning Modular Robot Control Policies
To make a modular robotic system both capable and scalable, the controll...
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04/07/2021
Optimal Control for Structurally Sparse Systems using Graphical Inference
Dynamical systems with a distributed yet interconnected structure, like ...
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03/30/2021
Stability and Control of Chaplygin Beanies Coupled to a Platform through Nonholonomic Constraints
Many multi-agent systems in nature are comprised of agents that interact...
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03/18/2021
MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding
In multi-agent applications such as surveillance and logistics, fleets o...
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03/08/2021
Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions
Multi-agent path finding (MAPF) determines an ensemble of collision-free...
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02/02/2021
Subdimensional Expansion for Multi-objective Multi-agent Path Finding
Conventional multi-agent path planners typically determine a path that o...
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01/29/2021
Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight
Quadrotors can achieve aggressive flight by tracking complex maneuvers a...
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01/11/2021
Multi-objective Conflict-based Search for Multi-agent Path Finding
Conventional multi-agent path planners typically compute an ensemble of ...
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12/09/2020
Reconstruction of Backbone Curves for Snake Robots
Snake robots composed of alternating single-axis pitch and yaw joints ha...
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11/13/2020
A Study of Domain Generalization on Ultrasound-based Multi-Class Segmentation of Arteries, Veins, Ligaments, and Nerves Using Transfer Learning
Identifying landmarks in the femoral area is crucial for ultrasound (US)...
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11/02/2020
Equality Constrained Linear Optimal Control With Factor Graphs
This paper presents a novel factor graph-based approach to solve the dis...
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10/30/2020
Correspondence Matrices are Underrated
Point-cloud registration (PCR) is an important task in various applicati...
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10/19/2020
MaskNet: A Fully-Convolutional Network to Estimate Inlier Points
Point clouds have grown in importance in the way computers perceive the ...
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03/03/2020
Directional Compliance in Obstacle-Aided Navigation for Snake Robots
Snake robots have the potential to maneuver through tightly packed and c...
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12/12/2019
One Framework to Register Them All: PointNet Encoding for Point Cloud Alignment
PointNet has recently emerged as a popular representation for unstructur...
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12/01/2019