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09/20/2023
TOPPQuad: Dynamically-Feasible Time Optimal Path Parametrization for Quadrotors
Planning time-optimal trajectories for quadrotors in cluttered environme...
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09/18/2023
Asynchronous Perception-Action-Communication with Graph Neural Networks
Collaboration in large robot swarms to achieve a common global objective...
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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...
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09/13/2023
3D Active Metric-Semantic SLAM
In this letter, we address the problem of exploration and metric-semanti...
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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...
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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...
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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...
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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...
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05/29/2023
Active Collaborative Localization in Heterogeneous Robot Teams
Accurate and robust state estimation is critical for autonomous navigati...
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05/16/2023
Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization
Differential flatness enables efficient planning and control for underac...
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04/05/2023
Dynamic Adversarial Resource Allocation: the dDAB Game
This work proposes a dynamic and adversarial resource allocation problem...
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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...
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01/23/2023
Graph Neural Networks for Decentralized Multi-Agent Perimeter Defense
In this work, we study the problem of decentralized multi-agent perimete...
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12/16/2022
Resource-Interaction Graph: Efficient Graph Representation for Anomaly Detection
Security research has concentrated on converting operating system audit ...
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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...
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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...
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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...
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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...
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09/25/2022
Vision-based Perimeter Defense via Multiview Pose Estimation
Previous studies in the perimeter defense game have largely focused on t...
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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...
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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...
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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...
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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...
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09/18/2022
Active Metric-Semantic Mapping by Multiple Aerial Robots
Traditional approaches for active mapping focus on building geometric ma...
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09/09/2022
Resilient Consensus via Voronoi Communication Graphs
Consensus algorithms form the foundation for many distributed algorithms...
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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...
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08/04/2022
Decentralized Risk-Aware Tracking of Multiple Targets
We consider the setting where a team of robots is tasked with tracking m...
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07/15/2022
MARLAS: Multi Agent Reinforcement Learning for cooperated Adaptive Sampling
The multi-robot adaptive sampling problem aims at finding trajectories f...
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06/28/2022
Stronger Together: Air-Ground Robotic Collaboration Using Semantics
In this work, we present an end-to-end heterogeneous multi-robot system ...
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06/13/2022
Learning Fashion Compatibility from In-the-wild Images
Complementary fashion recommendation aims at identifying items from diff...
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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 ...
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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...
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03/02/2022
Experiments in Adaptive Replanning for Fast Autonomous Flight in Forests
Fast, autonomous flight in unstructured, cluttered environments such as ...
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02/21/2022
RTGNN: A Novel Approach to Model Stochastic Traffic Dynamics
Modeling stochastic traffic dynamics is critical to developing self-driv...
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12/18/2021
Dynamic Defender-Attacker Blotto Game
This work studies a dynamic, adversarial resource allocation problem in ...
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12/14/2021
Learning Connectivity-Maximizing Network Configurations
In this work we propose a data-driven approach to optimizing the algebra...
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09/30/2021
Coverage Control in Multi-Robot Systems via Graph Neural Networks
This paper develops a decentralized approach to mobile sensor coverage b...
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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...
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09/21/2021
Infrastructure Node-based Vehicle Localization for Autonomous Driving
Vehicle localization is essential for autonomous vehicle (AV) navigation...
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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...
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09/16/2021
Semi-Supervised Visual Representation Learning for Fashion Compatibility
We consider the problem of complementary fashion prediction. Existing ap...
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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 ...
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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...
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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...
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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...
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03/26/2021
Dispersion-Minimizing Motion Primitives for Search-Based Motion Planning
Search-based planning with motion primitives is a powerful motion planni...
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03/08/2021
Learning Connectivity for Data Distribution in Robot Teams
Many algorithms for control of multi-robot teams operate under the assum...
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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...
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02/11/2021
Fair Robust Assignment using Redundancy
We study the consideration of fairness in redundant assignment for multi...
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02/10/2021