31 citations · 31 across the 9 of their papers we have counts for
9 papers
Risk-Aware Belief Control Barrier Functions over Random Finite Sets
Shaohang Han, Gang Chen, Yixi Cai +5
Ensuring robot safety in unknown, dynamic environments is a fundamental requirement. It involves inferring the states of an unknown and time-varying number of moving objects from n…
Marinarium: A Modular Experimental Facility for Reproducible Maritime and Space-Analog Field Robotics
Ignacio Torroba, David Dorner, Victor Nan Fernandez-Ayala +14
Field robotics research in maritime and space domains is constrained by a persistent gap between low-cost, low-fidelity simulation and costly offshore experimentation. Instrumented…
Side Scan Sonar-based SLAM for Autonomous Algae Farm Monitoring
Julian Valdez, Ignacio Torroba, John Folkesson +1
The transition of seaweed farming to an alternative food source on an industrial scale relies on automating its processes through smart farming, equivalent to land agriculture. Key…
Efficient Non-Myopic Layered Bayesian Optimization For Large-Scale Bathymetric Informative Path Planning
Alexander Kiessling, Ignacio Torroba, Chelsea Rose Sidrane +3
Informative path planning (IPP) applied to bathymetric mapping allows AUVs to focus on feature-rich areas to quickly reduce uncertainty and increase mapping efficiency. Existing me…
Online Stochastic Variational Gaussian Process Mapping for Large-Scale SLAM in Real Time
Ignacio Torroba, Marco Chella, Aldo Teran +2
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid…
Data-driven Loop Closure Detection in Bathymetric Point Clouds for Underwater SLAM
Jiarui Tan, Ignacio Torroba, Yiping Xie +1
Simultaneous localization and mapping (SLAM) frameworks for autonomous navigation rely on robust data association to identify loop closures for back-end trajectory optimization. In…
Fully-probabilistic Terrain Modelling with Stochastic Variational Gaussian Process Maps
Ignacio Torroba, Christopher Illife Sprague, John Folkesson
Gaussian processes (GPs) are becoming a standard tool to build terrain representations thanks to their capacity to model map uncertainty. This effectively yields a reliability meas…
Towards Autonomous Industrial-Scale Bathymetric Surveying
Ignacio Torrobam Nils Bore, John Folkesson
Both higher efficiency and cost reduction can be gained from automating bathymetric surveying for offshore applications such as pipeline, telecommunication or power cables installa…
PointNetKL: Deep Inference for GICP Covariance Estimation in Bathymetric SLAM
Ignacio Torroba, Christopher Iliffe Sprague, Nils Bore +1
Registration methods for point clouds have become a key component of many SLAM systems on autonomous vehicles. However, an accurate estimate of the uncertainty of such registration…