129 citations · 513 across the 42 of their papers we have counts for
56 papers
Capability-aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex Environments
Muhammad Fadhil Ginting, Kyohei Otsu, Mykel J. Kochenderfer +1
To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we fo…
Contact-Prioritized Planning of Impact-Resilient Aerial Robots with an Integrated Compliant Arm
Zhichao Liu, Zhouyu Lu, Ali-akbar Agha-mohammadi +1
The article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact and featuring a real-time contact force es…
A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple Environments
Jason Gibson, Bogdan Vlahov, David Fan +4
Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging m…
Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs
Muhammad Fadhil Ginting, Sung-Kyun Kim, Oriana Peltzer +4
To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and…
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge
Anushri Dixit, David D. Fan, Kyohei Otsu +3
Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-…
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments
Amanda Bouman, Joshua Ott, Sung-Kyun Kim +5
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked w…