3 papers
cs.RO2025
TCAFF: Temporal Consistency for Robot Frame Alignment
Mason B. Peterson, Parker C. Lusk, Antonio Avila +1
In the field of collaborative robotics, the ability to communicate spatial information like planned trajectories and shared environment information is crucial. When no global posit…
cs.RO2025
PRIMER: Perception-Aware Robust Learning-based Multiagent Trajectory Planner
Kota Kondo, Claudius T. Tewari, Andrea Tagliabue +4
In decentralized multiagent trajectory planners, agents need to communicate and exchange their positions to generate collision-free trajectories. However, due to localization error…
cs.RO2024
SOS-Match: Segmentation for Open-Set Robust Correspondence Search and Robot Localization in Unstructured Environments
Annika Thomas, Jouko Kinnari, Parker Lusk +2
We present SOS-Match, a novel framework for detecting and matching objects in unstructured environments. Our system consists of 1) a front-end mapping pipeline using a zero-shot se…