74 citations · 227 across the 87 of their papers we have counts for
15 papers · 1 filter
Learning Task Requirements and Agent Capabilities for Multi-agent Task Allocation
Bo Fu, William Smith, Denise Rizzo +3
This paper presents a learning framework to estimate an agent capability and task requirement model for multi-agent task allocation. With a set of team configurations and the corre…
Deep Convolutional Neural Network and Transfer Learning for Locomotion Intent Prediction
Duong Le, Shihao Cheng, Robert D. Gregg +1
Powered prosthetic legs must anticipate the user's intent when switching between different locomotion modes (e.g., level walking, stair ascent/descent, ramp ascent/descent). Numero…
SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learning
Yifan Xu, Theodor Chakhachiro, Tribhi Kathuria +1
This work proposes a new framework for a socially-aware dynamic local planner in crowded environments by building on the recently proposed Trajectory-ranked Maximum Entropy Deep In…
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer
Xihang Yu, Sangli Teng, Theodor Chakhachiro +7
This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully propri…
Convolutional Bayesian Kernel Inference for 3D Semantic Mapping
Joey Wilson, Yuewei Fu, Arthur Zhang +5
Robotic perception is currently at a cross-roads between modern methods, which operate in an efficient latent space, and classical methods, which are mathematically founded and pro…
Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning
Lu Gan, Jessy W. Grizzle, Ryan M. Eustice +1
This work reports on developing a deep inverse reinforcement learning method for legged robots terrain traversability modeling that incorporates both exteroceptive and propriocepti…
Providers-Clients-Robots: Framework for spatial-semantic planning for shared understanding in human-robot interaction
Tribhi Kathuria, Yifan Xu, Theodor Chakhachiro +2
This paper develops a novel framework called Providers-Clients-Robots (PCR), applicable to socially assistive robots that support research on shared understanding in human-robot in…
E2PN: Efficient SE(3)-Equivariant Point Network
Minghan Zhu, Maani Ghaffari, William A. Clark +1
This paper proposes a convolution structure for learning SE(3)-equivariant features from 3D point clouds. It can be viewed as an equivariant version of kernel point convolutions (K…
BDIS: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matching
Jingwei Song, Qiuchen Zhu, Jianyu Lin +1
In stereoscope-based Minimally Invasive Surgeries (MIS), dense stereo matching plays an indispensable role in 3D shape recovery, AR, VR, and navigation tasks. Although numerous Dee…
Lie Algebraic Cost Function Design for Control on Lie Groups
Sangli Teng, William Clark, Anthony Bloch +2
This paper presents a control framework on Lie groups by designing the control objective in its Lie algebra. Control on Lie groups is challenging due to its nonlinear nature and di…
Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model
Sangli Teng, Amit K. Sanyal, Ram Vasudevan +2
Ultra-Local Models (ULM) have been applied to perform model-free control of nonlinear systems with unknown or partially known dynamics. Unfortunately, extending these methods to MI…
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control
Sangli Teng, Dianhao Chen, William Clark +1
This paper reports on a new error-state Model Predictive Control (MPC) approach to connected matrix Lie groups for robot control. The linearized tracking error dynamics and the lin…
MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments
Joey Wilson, Jingyu Song, Yuewei Fu +5
This work addresses a gap in semantic scene completion (SSC) data by creating a novel outdoor data set with accurate and complete dynamic scenes. Our data set is formed from random…
Simultaneous Human-robot Matching and Routing for Multi-robot Tour Guiding under Time Uncertainty
Bo Fu, Tribhi Kathuria, Denise Rizzo +4
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. In the proposed centralized multi-robot planner, a…
Fusing Convolutional Neural Network and Geometric Constraint for Image-based Indoor Localization
Jingwei Song, Mitesh Patel, Maani Ghaffari
This paper proposes a new image-based localization framework that explicitly localizes the camera/robot by fusing Convolutional Neural Network (CNN) and sequential images' geometri…