21 citations · 24 across the 11 of their papers we have counts for
6 papers · 1 filter
Probabilistic Data Association for Semantic SLAM at Scale
Elad Michael, Tyler Summers, Tony A. Wood +2
With advances in image processing and machine learning, it is now feasible to incorporate semantic information into the problem of simultaneous localisation and mapping (SLAM). Pre…
Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems Under Uncertainty
Sleiman Safaoui, Benjamin J. Gravell, Venkatraman Renganathan +1
We propose a two-phase risk-averse architecture for controlling stochastic nonlinear robotic systems. We present Risk-Averse Nonlinear Steering RRT* (RANS-RRT*) as an RRT* variant…
Centralized Collision-free Polynomial Trajectories and Goal Assignment for Aerial Swarms
Benjamin Gravell, Tyler Summers
Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories for systems of multiple aerial robots…
Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle
Edgar Bolívar, Siavash Rezazadeh, Tyler Summers +1
Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important chall…
Robust 3D Distributed Formation Control with Application to Quadrotors
Kaveh Fathian, Sleiman Safaoui, Tyler H. Summers +1
We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and…
Robust Distributed Planar Formation Control for Higher-Order Holonomic and Nonholonomic Agents
Kaveh Fathian, Sleiman Safaoui, Tyler H. Summers +1
We present a distributed formation control strategy for agents with a variety of dynamics to achieve a desired planar formation. Our approach is based on the barycentric-coordinate…