8 papers
A Bimanual Teleoperation Framework for Light Duty Underwater Vehicle-Manipulator Systems
Justin Sitler, Srikarran Sowrirajan, Brendan Englot +1
In an effort to lower the barrier to entry in underwater manipulation, this paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underw…
Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization
Yewei Huang, Xi Lin, Brendan Englot
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile rob…
Decentralized Multi-Robot Navigation for Autonomous Surface Vehicles with Distributional Reinforcement Learning
Xi Lin, Yewei Huang, Fanfei Chen +1
Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have bee…
Mobile Manipulation Platform for Autonomous Indoor Inspections in Low-Clearance Areas
Erik Pearson, Paul Szenher, Christine Huang +1
Mobile manipulators have been used for inspection, maintenance and repair tasks over the years, but there are some key limitations. Stability concerns typically require mobile plat…
A Robust and Rapidly Deployable Waypoint Navigation Architecture for Long-Duration Operations in GPS-Denied Environments
Erik Pearson, Brendan Englot
For long-duration operations in GPS-denied environments, accurate and repeatable waypoint navigation is an essential capability. While simultaneous localization and mapping (SLAM)…
Robust Unmanned Surface Vehicle Navigation with Distributional Reinforcement Learning
Xi Lin, John McConnell, Brendan Englot
Autonomous navigation of Unmanned Surface Vehicles (USV) in marine environments with current flows is challenging, and few prior works have addressed the sensorbased navigation pro…