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BLT*: Informed Belief Localization Trees for Uncertainty-Aware Planning on Digital Twins
Elliot Preston-Krebs, Abhishek Goudar, Timothy D. Barfoot
We present Informed Belief Localization Trees* (Informed BLT*), a sampling-based belief space planning (BSP) algorithm that scales to large outdoor digital twins with point-cloud o…
Dr-LiSA: Direct Radar-Lidar Scan Alignment for SE(3) Localization
Alex Zhang, Daniil Lisus, Cedric Le Gentil +1
This paper introduces Dr-LiSA, a first-of-its-kind direct method for localizing 2D spinning radar intensity measurements in against 3D lidar maps. Radar-lidar localization…
SPARROW: Survival-POMCP for Adaptive Robot Routing, Observation, and Waiting
Hshmat Sahak, Aoran Jiao, Nicholas Rhinehart +1
Temporary obstacles that may block a robot's planned route create a sequential navigation problem: a robot must decide whether to wait for a blockage to clear, reroute, or acquire…
Do Spinning Radar Doppler Velocity Measurements Improve Vehicle Detection and Tracking?
Eric Xie, Daniil Lisus, Timothy D. Barfoot
Spinning frequency-modulated continuous-wave (FMCW) radars have been gaining popularity in autonomous vehicle perception on account of their robustness to adverse weather condition…
PIVOT: Physically Informed Vision-Language Off-Road Traversability for Field Robot Navigation
Aoran Jiao, Wenda Zhao, Hshmat Sahak +1
Terrain assessment is a critical capability for off-road mobile robots, enabling safe and reliable navigation through unstructured and geometrically complex environments. Conventio…
DRT&R: Direct Radar Teach & Repeat
Alexander Krawciw, Daniil Lisus, Cedric Le Gentil +1
Radar-based navigation is appealing for its robustness to adverse conditions involving airborne particles, such as precipitation, dust, fog, and smoke, that can cause lidar-based s…