44 citations · 111 across the 30 of their papers we have counts for
7 papers · 1 filter
Distributed and Consistent Multi-Image Feature Matching via QuickMatch
Zachary Serlin, Guang Yang, Brandon Sookraj +2
In this work we consider the multi-image object matching problem, extend a centralized solution of the problem to a distributed solution, and present an experimental application of…
A Computational Theory of Robust Localization Verifiability in the Presence of Pure Outlier Measurements
Mahroo Bahreinian, Roberto Tron
The problem of localizing a set of nodes from relative pairwise measurements is at the core of many applications such as Structure from Motion (SfM), sensor networks, and Simultane…
Robust Planning and Control For Polygonal Environments via Linear Programming
Mahroo Bahreinian, Erfan Aasi, Roberto Tron
We propose a novel approach for navigating in polygonal environments by synthesizing controllers that take as input relative displacement measurements with respect to a set of land…
Bearing-Only Consensus and Formation Control under Directed Topologies
Arman Karimian, Roberto Tron
We address the problems of bearing-only consensus and formation control, where each agent can only measure the relative bearings of its neighbors and relative distances are not ava…
Sampling-based Motion Planning via Control Barrier Functions
Guang Yang, Bee Vang, Zachary Serlin +2
Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion p…
Continuous-time Signal Temporal Logic Planning with Control Barrier Function
Guang Yang, Roberto Tron, Calin Belta
Temporal Logic (TL) guided control problems have gained interests in recent years. By using the TL, one can specify a wide range of temporal constraints on the system and is widely…