Publications (13)
Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs
Jared Strader, Aaron Ray, Jacob Arkin +11
In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructio…
Design of an Autonomous Precision Pollination Robot
Nicholas Ohi, Kyle Lassak, Ryan Watson +17
Precision robotic pollination systems can not only fill the gap of declining natural pollinators, but can also surpass them in efficiency and uniformity, helping to feed the fast-g…
Belief Roadmaps with Uncertain Landmark Evanescence
Erick Fuentes, Jared Strader, Ethan Fahnestock +1
We would like a robot to navigate to a goal location while minimizing state uncertainty. To aid the robot in this endeavor, maps provide a prior belief over the location of objects…
3D Scene Graph Prediction: Generating Hierarchical Models from Partially Observed Environments
Siyi Hu, Siyi H, Jared Strader +3
Generating realistic 3D indoor scenes is an area of growing interest in computer vision and robotics. Existing methods, often motivated by applications such as interior design, gen…
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers
Julio A. Placed, Jared Strader, Henry Carrillo +4
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surroundin…
Aggressive Aerial Grasping using a Soft Drone with Onboard Perception
Samuel Ubellacker, Aaron Ray, James Bern +2
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigi…
Cooperative Navigation Using Pairwise Communication with Ranging and Magnetic Anomaly Measurements
Chizhao Yang, Jared Strader, Yu Gu +2
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contain…
Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints
Cagri Kilic, Jason N. Gross, Nicholas Ohi +5
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter.…
Perception-aware Autonomous Mast Motion Planning for Planetary Exploration Rovers
Jared Strader, Kyohei Otsu, Ali-akbar Agha-mohammadi
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on v…
Flower Interaction Subsystem for a Precision Pollination Robot
Jared Strader, Jennifer Nguyen, Christopher Tatsch +8
Robotic pollinators not only can aid farmers by providing more cost effective and stable methods for pollinating plants but also benefit crop production in environments not suitabl…
Indoor and Outdoor 3D Scene Graph Generation via Language-Enabled Spatial Ontologies
Jared Strader, Nathan Hughes, William Chen +2
This paper proposes an approach to build 3D scene graphs in arbitrary indoor and outdoor environments. Such extension is challenging; the hierarchy of concepts that describe an out…
NASA Space Robotics Challenge 2 Qualification Round: An Approach to Autonomous Lunar Rover Operations
Cagri Kilic, Bernardo Martinez R., Christopher A. Tatsch +7
Plans for establishing a long-term human presence on the Moon will require substantial increases in robot autonomy and multi-robot coordination to support establishing a lunar outp…
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems
Nathan Hughes, Yun Chang, Siyi Hu +4
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge.…