59 citations · 179 across the 18 of their papers we have counts for
19 papers
REMS: Middleware for Robotics Education and Development
Yusuke Tanaka, Ankur Mehta
This paper introduces REMS, a robotics middleware and control framework that is designed to introduce the Zen of Python to robotics and to improve robotics education and developmen…
A crawling robot driven by a folded self-sustained oscillator
Wenzhong Yan, Ankur Mehta
Locomotive robots that do not rely on electronics and/or electromagnetic components will open up new perspectives and applications for robotics. However, these robots usually invol…
User Based Design and Evaluation Pipeline for Indoor Airships
Zhaoliang Zheng, Jiahao Li, Parth Agrawal +3
Designing a controllable airship for non-expert users or preemptively evaluating the performance of desired airships has always been a very challenging problem. This paper explores…
Joint State and Input Estimation of Agent Based on Recursive Kalman Filter Given Prior Knowledge
Zida Wu, Zhaoliang Zheng, Ankur Mehta
Modern autonomous systems are purposed for many challenging scenarios, where agents will face unexpected events and complicated tasks. The presence of disturbance noise with contro…
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds
Kenny Chen, Brett T. Lopez, Ali-akbar Agha-mohammadi +1
Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this…
Resilient and consistent multirobot cooperative localization with covariance intersection
Tsang-Kai Chang, Kenny Chen, Ankur Mehta
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible…
A cut-and-fold self-sustained compliant oscillator for autonomous actuation of origami-inspired robots
Wenzhong Yan, Ankur Mehta
Origami-inspired robots are of particular interest given their potential for rapid and accessible design and fabrication of elegant designs and complex functionalities through cutt…
Fabrication-aware Design for Furniture with Planar Pieces
Wenzhong Yan, Dawei Zhao, Ankur Mehta
We propose a computational design tool to enable casual end-users to easily design, fabricate, and assemble flat-pack furniture with guaranteed manufacturability. Using our system,…
LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments
Yuki Shirai, Xuan Lin, Ankur Mehta +1
Although Trajectory Optimization (TO) is one of the most powerful motion planning tools, it suffers from expensive computational complexity as a time horizon increases in cluttered…
A Computational Design and Evaluation Tool for 3D Structures with Planar Surfaces
Chang Liu, Wenzhong Yan, Pehuen Moure +2
Three dimensional (3D) structures composed of planar surfaces can be build out of accessible materials using easier fabrication technique with shorter fabrication time. To better d…
Computational Design and Fabrication of Corrugated Mechanisms from Behavioral Specifications
Chang Liu, Wenzhong Yan, Ankur Mehta
Orthogonally assembled double-layered corrugated (OADLC) mechanisms are a class of foldable structures that harness origami-inspired methods to enhance the structural stiffness of…
Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems
Wenzhong Yan, Ankur Mehta
To improve the accessibility of robotics, we propose a design and fabrication strategy to build low-cost electromechanical systems for robotic devices. Our method, based on origami…
Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints
Kenny Chen, Alexandra Pogue, Brett T. Lopez +2
Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues w…
Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance
Alexander Schperberg, Kenny Chen, Stephanie Tsuei +5
In this paper, we propose an online path planning architecture that extends the model predictive control (MPC) formulation to consider future location uncertainties for safer navig…
Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming
Yuki Shirai, Xuan Lin, Yusuke Tanaka +2
We present a motion planning algorithm with probabilistic guarantees for limbed robots with stochastic gripping forces. Planners based on deterministic models with a worst-case unc…
Toward Synergic Learning for Autonomous Manipulation of Deformable Tissues via Surgical Robots: An Approximate Q-Learning Approach
Sahba Aghajani Pedram, Peter Walker Ferguson, Changyeob Shin +4
In this paper, we present a synergic learning algorithm to address the task of indirect manipulation of an unknown deformable tissue. Tissue manipulation is a common yet challengin…
Analytical Modeling for Rapid Design of Bistable Buckled Beams
Wenzhong Yan, Yunchen Yu, Ankur Mehta
Double-clamped bistable buckled beams, as the most elegant bistable mechanisms, demonstrate great versatility in various fields, such as robotics, energy harvesting, and MEMS. Howe…
Localization Algorithm with Circular Representation in 2D and its Similarity to Mammalian Brains
Tsang-Kai Chang, Shengkang Chen, Ankur Mehta
Extended Kalman filter (EKF) does not guarantee consistent mean and covariance under linearization, even though it is the main framework for robotic localization. While Lie group i…
Event-Triggered Diffusion Kalman Filters
Amr Alanwar, Hazem Said, Ankur Mehta +1
Distributed state estimation strongly depends on collaborative signal processing, which often requires excessive communication and computation to be executed on resource-constraine…