59 citations · 221 across the 105 of their papers we have counts for
8 papers · 1 filter
Multi-Robot Coordinated Planning in Confined Environments under Kinematic Constraints
Clayton Mangette, Pratap Tokekar
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally effici…
View Planning and Navigation Algorithms for Autonomous Bridge Inspection with UAVs
Kevin Yu, Prajwal Shanthakumar, Jonah Orevillo +3
We study the problem of infrastructure inspection using an Unmanned Aerial Vehicle (UAV) in box girder bridge environments. We consider a scenario where the UAV needs to fully insp…
Crop Height and Plot Estimation for Phenotyping from Unmanned Aerial Vehicles using 3D LiDAR
Harnaik Dhami, Kevin Yu, Tianshu Xu +5
We present techniques to measure crop heights using a 3D Light Detection and Ranging (LiDAR) sensor mounted on an Unmanned Aerial Vehicle (UAV). Knowing the height of plants is cru…
Distributed Attack-Robust Submodular Maximization for Multi-Robot Planning
Lifeng Zhou, Vasileios Tzoumas, George J. Pappas +1
In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots t…
Risk-Aware Planning by Confidence Estimation using Deep Learning-Based Perception
Maymoonah Toubeh, Pratap Tokekar
This work proposes the use of Bayesian approximations of uncertainty from deep learning in a robot planner, showing that this produces more cautious actions in safety-critical scen…
Environmental Hotspot Identification in Limited Time with a UAV Equipped with a Downward-Facing Camera
Yoonchang Sung, Deeksha Dixit, Pratap Tokekar
Our work is motivated by environmental monitoring tasks, where finding the global maxima (i.e., hotspot) of a spatially varying field is crucial. We investigate the problem of iden…
Learning a Spatial Field in Minimum Time with a Team of Robots
Varun Suryan, Pratap Tokekar
We study an informative path-planning problem where the goal is to minimize the time required to learn a spatially varying entity. We use Gaussian Process (GP) regression for learn…
Visual Monitoring for Multiple Points of Interest on a 2.5D Terrain using a UAV with Limited Field-of-View Constraint
Parikshit Maini, Suijt PB, Pratap Tokekar
Varying terrain conditions and limited field-of-view restricts the visibility of aerial robots while performing visual monitoring operations. In this paper, we study the multi-poin…