36 citations · 57 across the 14 of their papers we have counts for
16 papers
PRIMER: Perception-Aware Robust Learning-based Multiagent Trajectory Planner
Kota Kondo, Claudius T. Tewari, Andrea Tagliabue +4
In decentralized multiagent trajectory planners, agents need to communicate and exchange their positions to generate collision-free trajectories. However, due to localization error…
TCAFF: Temporal Consistency for Robot Frame Alignment
Mason B. Peterson, Parker C. Lusk, Antonio Avila +1
In the field of collaborative robotics, the ability to communicate spatial information like planned trajectories and shared environment information is crucial. When no global posit…
CLIPPER: Robust Data Association without an Initial Guess
Parker C. Lusk, Jonathan P. How
Identifying correspondences in noisy data is a critically important step in estimation processes. When an informative initial estimation guess is available, the data association ch…
SOS-Match: Segmentation for Open-Set Robust Correspondence Search and Robot Localization in Unstructured Environments
Annika Thomas, Jouko Kinnari, Parker Lusk +2
We present SOS-Match, a novel framework for detecting and matching objects in unstructured environments. Our system consists of 1) a front-end mapping pipeline using a zero-shot se…
MOTLEE: Distributed Mobile Multi-Object Tracking with Localization Error Elimination
Mason B. Peterson, Parker C. Lusk, Jonathan P. How
We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error.…
Robust MADER: Decentralized Multiagent Trajectory Planner Robust to Communication Delay in Dynamic Environments
Kota Kondo, Reinaldo Figueroa, Juan Rached +3
Communication delays can be catastrophic for multiagent systems. However, most existing state-of-the-art multiagent trajectory planners assume perfect communication and therefore l…
Global Localization in Unstructured Environments using Semantic Object Maps Built from Various Viewpoints
Jacqueline Ankenbauer, Parker C. Lusk, Annika Thomas +1
We present a novel framework for global localization and guided relocalization of a vehicle in an unstructured environment. Compared to existing methods, our pipeline does not rely…
GraffMatch: Global Matching of 3D Lines and Planes for Wide Baseline LiDAR Registration
Parker C. Lusk, Devarth Parikh, Jonathan P. How
Using geometric landmarks like lines and planes can increase navigation accuracy and decrease map storage requirements compared to commonly-used LiDAR point cloud maps. However, la…
Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay
Kota Kondo, Jesus Tordesillas, Reinaldo Figueroa +4
Although communication delays can disrupt multiagent systems, most of the existing multiagent trajectory planners lack a strategy to address this issue. State-of-the-art approaches…
MIXER: Multiattribute, Multiway Fusion of Uncertain Pairwise Affinities
Parker C. Lusk, Kaveh Fathian, Jonathan P. How
We present a multiway fusion algorithm capable of directly processing uncertain pairwise affinities. In contrast to existing works that require initial pairwise associations, our M…
Global Data Association for SLAM with 3D Grassmannian Manifold Objects
Parker C. Lusk, Jonathan P. How
Using pole and plane objects in lidar SLAM can increase accuracy and decrease map storage requirements compared to commonly-used point cloud maps. However, place recognition and ge…
MIXER: A Principled Framework for Multimodal, Multiway Data Association
Parker C. Lusk, Ronak Roy, Kaveh Fathian +1
A fundamental problem in robotic perception is matching identical objects or data, with applications such as loop closure detection, place recognition, object tracking, and map fus…
Performance Analysis of Adaptive Dynamic Tube MPC
Savva Morozov, Parker C. Lusk, Brett T. Lopez +1
Model predictive control (MPC) is an effective method for control of constrained systems but is susceptible to the external disturbances and modeling error often encountered in rea…
CLIPPER: A Graph-Theoretic Framework for Robust Data Association
Parker C. Lusk, Kaveh Fathian, Jonathan P. How
We present CLIPPER (Consistent LInking, Pruning, and Pairwise Error Rectification), a framework for robust data association in the presence of noise and outliers. We formulate the…
A Distributed Pipeline for Scalable, Deconflicted Formation Flying
Parker C. Lusk, Xiaoyi Cai, Samir Wadhwania +3
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environm…
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-View Data Association
Kaveh Fathian, Kasra Khosoussi, Yulun Tian +2
Many robotics applications require alignment and fusion of observations obtained at multiple views to form a global model of the environment. Multi-way data association methods pro…