59 citations · 179 across the 18 of their papers we have counts for
8 papers · 1 filter
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…