Publications (11)
PST900: RGB-Thermal Calibration, Dataset and Segmentation Network
Shreyas S. Shivakumar, Neil Rodrigues, Alex Zhou +3
In this work we propose long wave infrared (LWIR) imagery as a viable supporting modality for semantic segmentation using learning-based techniques. We first address the problem of…
SEER: Safe Efficient Exploration for Aerial Robots using Learning to Predict Information Gain
Yuezhan Tao, Yuwei Wu, Beiming Li +4
We address the problem of efficient 3-D exploration in indoor environments for micro aerial vehicles with limited sensing capabilities and payload/power constraints. We develop an…
Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms
Zhixiang Cao, Di Tian, Runwei Guan +11
Tactile sensing is a fundamental modality for embodied intelligence, offering unique and direct feedback on contact geometry, material properties, and interaction dynamics that rem…
Radius estimates for nearly stable H-hypersurfaces of dimension 2, 3, and 4
Giuseppe Tinaglia, Alex Zhou
In this paper we study the geometry of complete constant mean curvature (CMC) hypersurfaces immersed in an (n + 1)-dimensional Riemannian manifold N (n = 2, 3 and 4) with sectional…
Mine Tunnel Exploration using Multiple Quadrupedal Robots
Ian D. Miller, Fernando Cladera, Anthony Cowley +11
Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees…
Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy
Xu Liu, Guilherme V. Nardari, Fernando Cladera Ojeda +8
Semantic maps represent the environment using a set of semantically meaningful objects. This representation is storage-efficient, less ambiguous, and more informative, thus facilit…
Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment
Petr Stibinger, George Broughton, Filip Majer +8
Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator fo…
MAVNet: an Effective Semantic Segmentation Micro-Network for MAV-based Tasks
Ty Nguyen, Shreyas S. Shivakumar, Ian D. Miller +9
Real-time semantic image segmentation on platforms subject to size, weight and power (SWaP) constraints is a key area of interest for air surveillance and inspection. In this work,…
Design and Deployment of an Autonomous Unmanned Ground Vehicle for Urban Firefighting Scenarios
Kshitij Jindal, Anthony Wang, Dinesh Thakur +7
Autonomous mobile robots have the potential to solve missions that are either too complex or dangerous to be accomplished by humans. In this paper, we address the design and autono…
A Multi-Robot Platform for Robotic Triage Combining Onboard Sensing and Foundation Models
Jason Hughes, Marcel Hussing, Edward Zhang +24
This report presents a heterogeneous robotic system designed for remote primary triage in mass-casualty incidents (MCIs). The system employs a coordinated air-ground team of unmann…
An Investigation of the Relationship Between Crime Rate and Police Compensation
Jhancy Amarsingh, Likhith Kumar Reddy Appakondreddigari, Ashish Nunna +4
The goal of this paper is to assess whether there is any correlation between police salaries and crime rates. Using public data sources that contain Baltimore Crime Rates and Balti…