106 citations · 241 across the 9 of their papers we have counts for
10 papers
Learning to Simulate Tree-Branch Dynamics for Manipulation
Jayadeep Jacob, Tirthankar Bandyopadhyay, Jason Williams +2
We propose to use a simulation driven inverse inference approach to model the dynamics of tree branches under manipulation. Learning branch dynamics and gaining the ability to mani…
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge
Navinda Kottege, Jason Williams, Brendan Tidd +27
The DARPA Subterranean Challenge was designed for competitors to develop and deploy teams of autonomous robots to explore difficult unknown underground environments. Categorised in…
Human-Robot Team Performance Compared to Full Robot Autonomy in 16 Real-World Search and Rescue Missions: Adaptation of the DARPA Subterranean Challenge
Nicole Robinson, Jason Williams, David Howard +6
Human operators in human-robot teams are commonly perceived to be critical for mission success. To explore the direct and perceived impact of operator input on task success and tea…
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT co…
OHM: GPU Based Occupancy Map Generation
Kazys Stepanas, Jason Williams, Emili Hernández +2
Occupancy grid maps (OGMs) are fundamental to most systems for autonomous robotic navigation. However, CPU-based implementations struggle to keep up with data rates from modern 3D…
Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM
Milad Ramezani, Kasra Khosoussi, Gavin Catt +5
We present Wildcat, a novel online 3D lidar-inertial SLAM system with exceptional versatility and robustness. At its core, Wildcat combines a robust real-time lidar-inertial odomet…
Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge
Nicolas Hudson, Fletcher Talbot, Mark Cox +31
Heterogeneous teams of robots, leveraging a balance between autonomy and human interaction, bring powerful capabilities to the problem of exploring dangerous, unstructured subterra…
Elasticity Meets Continuous-Time: Map-Centric Dense 3D LiDAR SLAM
Chanoh Park, Peyman Moghadam, Jason Williams +3
Map-centric SLAM utilizes elasticity as a means of loop closure. This approach reduces the cost of loop closure while still provides large-scale fusion-based dense maps, when compa…
Canopy Density Estimation in Perennial Horticulture Crops Using 3D Spinning Lidar SLAM
Thomas Lowe, Peyman Moghadam, Everard Edwards +1
We propose a novel, canopy density estimation solution using a 3D ray cloud representation for perennial horticultural crops at the field scale. To attain high spatial and temporal…
Poisson Multi-Bernoulli Mixtures for Sets of Trajectories
Karl Granström, Lennart Svensson, Yuxuan Xia +2
The Poisson Multi-Bernoulli Mixture (PMBM) density is a conjugate multi-target density for the standard point target model with Poisson point process birth. This means that both th…