44 citations · 280 across the 48 of their papers we have counts for
6 papers · 1 filter
Towards Accurate Loop Closure Detection in Semantic SLAM with 3D Semantic Covisibility Graphs
Zhentian Qian, Jie Fu, Jing Xiao
Loop closure is necessary for correcting errors accumulated in simultaneous localization and mapping (SLAM) in unknown environments. However, conventional loop closure methods base…
Optimal Sensor Deception to Deviate from an Allowed Itinerary
Hazhar Rahmani, Arash Ahadi, Jie Fu
In this work, we study a class of deception planning problems in which an agent aims to alter a security monitoring system's sensor readings so as to disguise its adversarial itine…
Autonomous Search of Semantic Objects in Unknown Environments
Zhentian Qian, Jie Fu, Jing Xiao
This paper addresses the problem of enabling a robot to search for a semantic object, i.e., an object with a semantic label, in an unknown and GPS-denied environment. For the robot…
Probabilistic Planning with Partially Ordered Preferences over Temporal Goals
Hazhar Rahmani, Abhishek N. Kulkarni, Jie Fu
In this paper, we study planning in stochastic systems, modeled as Markov decision processes (MDPs), with preferences over temporally extended goals. Prior work on temporal plannin…
Reinforcement Learning of CPG-regulated Locomotion Controller for a Soft Snake Robot
Xuan Liu, Cagdas Onal, Jie Fu
Intelligent control of soft robots is challenging due to the nonlinear and difficult-to-model dynamics. One promising model-free approach for soft robot control is reinforcement le…
Attention-Based Planning with Active Perception
Haoxiang Ma, Jie Fu
Attention control is a key cognitive ability for humans to select information relevant to the current task. This paper develops a computational model of attention and an algorithm…