28 citations · 36 across the 7 of their papers we have counts for
10 papers
Graph Neural Networks for Decentralized Multi-Agent Perimeter Defense
Elijah S. Lee, Lifeng Zhou, Alejandro Ribeiro +1
In this work, we study the problem of decentralized multi-agent perimeter defense that asks for computing actions for defenders with local perceptions and communications to maximiz…
Learning Decentralized Strategies for a Perimeter Defense Game with Graph Neural Networks
Elijah S. Lee, Lifeng Zhou, Alejandro Ribeiro +1
We consider the problem of finding decentralized strategies for multi-agent perimeter defense games. In this work, we design a graph neural network-based learning framework to lear…
Vision-based Perimeter Defense via Multiview Pose Estimation
Elijah S. Lee, Giuseppe Loianno, Dinesh Jayaraman +1
Previous studies in the perimeter defense game have largely focused on the fully observable setting where the true player states are known to all players. However, this is unrealis…
Infrastructure Node-based Vehicle Localization for Autonomous Driving
Elijah S. Lee, Ankit Vora, Armin Parchami +3
Vehicle localization is essential for autonomous vehicle (AV) navigation and Advanced Driver Assistance Systems (ADAS). Accurate vehicle localization is often achieved via expensiv…
Defending a Perimeter from a Ground Intruder Using an Aerial Defender: Theory and Practice
Elijah S. Lee, Daigo Shishika, Giuseppe Loianno +1
The perimeter defense game has received interest in recent years as a variant of the pursuit-evasion game. A number of previous works have solved this game to obtain the optimal st…
Active Perception with Neural Networks
Elijah S. Lee
Active perception has been employed in many domains, particularly in the field of robotics. The idea of active perception is to utilize the input data to predict the next action th…
Perimeter-defense Game between Aerial Defender and Ground Intruder
Elijah S. Lee, Daigo Shishika, Vijay Kumar
We study a variant of pursuit-evasion game in the context of perimeter defense. In this problem, the intruder aims to reach the base plane of a hemisphere without being captured by…
SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory
Steven W. Chen, Guilherme V. Nardari, Elijah S. Lee +4
This paper describes an end-to-end pipeline for tree diameter estimation based on semantic segmentation and lidar odometry and mapping. Accurate mapping of this type of environment…
Mine Tunnel Exploration using Multiple Quadrupedal Robots
Ian D. Miller, Fernando Cladera, Anthony Cowley +11
Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees…
MAVNet: an Effective Semantic Segmentation Micro-Network for MAV-based Tasks
Ty Nguyen, Shreyas S. Shivakumar, Ian D. Miller +9
Real-time semantic image segmentation on platforms subject to size, weight and power (SWaP) constraints is a key area of interest for air surveillance and inspection. In this work,…