22 citations · 38 across the 4 of their papers we have counts for
6 papers
Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap
Eric Heiden, David Millard, Erwin Coumans +1
We present a differentiable simulation architecture for articulated rigid-body dynamics that enables the augmentation of analytical models with neural networks at any point of the…
Confidence-rich grid mapping
Ali-akbar Agha-mohammadi, Eric Heiden, Karol Hausman +1
Representing the environment is a fundamental task in enabling robots to act autonomously in unknown environments. In this work, we present confidence-rich mapping (CRM), a new alg…
Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots
Eric Heiden, Luigi Palmieri, Kai O. Arras +2
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Ove…
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
Kamak Ebadi, Yun Chang, Matteo Palieri +9
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions…
Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics
David Millard, Eric Heiden, Shubham Agrawal +1
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environme…
Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking
Eric Heiden, Ziang Liu, Ragesh K. Ramachandran +1
Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines with depth measurement…