101 citations · 139 across the 11 of their papers we have counts for
18 papers
DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams
John McConnell, Yewei Huang, Paul Szenher +2
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a…
Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments
Jinkun Wang, Fanfei Chen, Yewei Huang +3
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncerta…
Overhead Image Factors for Underwater Sonar-based SLAM
John McConnell, Fanfei Chen, Brendan Englot
Simultaneous localization and mapping (SLAM) is a critical capability for any autonomous underwater vehicle (AUV). However, robust, accurate state estimation is still a work in pro…
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
Tixiao Shan, Brendan Englot, Carlo Ratti +1
We propose a framework for tightly-coupled lidar-visual-inertial odometry via smoothing and mapping, LVI-SAM, that achieves real-time state estimation and map-building with high ac…
Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration Under Uncertainty
Fanfei Chen, Paul Szenher, Yewei Huang +4
This paper studies the problem of autonomous exploration under localization uncertainty for a mobile robot with 3D range sensing. We present a framework for self-learning a high-pe…
Robust Place Recognition using an Imaging Lidar
Tixiao Shan, Brendan Englot, Fabio Duarte +2
We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity reading…