31 citations · 55 across the 22 of their papers we have counts for
23 papers
Spoofing-Resilient LiDAR-GPS Factor Graph Localization with Chimera Authentication
Adam Dai, Tara Minda, Ashwin Kanhere +1
Many vehicle platforms typically use sensors such as LiDAR or camera for locally-referenced navigation with GPS for globally-referenced navigation. However, due to the unencrypted…
A Deep Reinforcement Learning Approach to Rare Event Estimation
Anthony Corso, Kyu-Young Kim, Shubh Gupta +2
An important step in the design of autonomous systems is to evaluate the probability that a failure will occur. In safety-critical domains, the failure probability is extremely sma…
Binary sequence set optimization for CDMA applications via mixed-integer quadratic programming
Alan Yang, Tara Mina, Grace Gao
Finding sets of binary sequences with low auto- and cross-correlation properties is a hard combinatorial optimization problem with numerous applications, including multiple-input-m…
PlaneSLAM: Plane-based LiDAR SLAM for Motion Planning in Structured 3D Environments
Adam Dai, Greg Lund, Grace Gao
LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally e…
Set-Valued Shadow Matching Using Zonotopes for 3-D Map-Aided GNSS Localization
Sriramya Bhamidipati, Shreyas Kousik, Grace Gao
Unlike many urban localization methods that return point-valued estimates, a set-valued representation enables robustness by ensuring that a continuum of possible positions obeys s…
Mosaic Zonotope Shadow Matching for Risk-Aware Autonomous Localization in Harsh Urban Environments
Daniel Neamati, Sriramya Bhamidipati, Grace Gao
Risk-aware urban localization with the Global Navigation Satellite System (GNSS) remains an unsolved problem with frequent misdetection of the user's street or side of the street.…
Safe Reinforcement Learning Using Black-Box Reachability Analysis
Mahmoud Selim, Amr Alanwar, Shreyas Kousik +3
Reinforcement learning (RL) is capable of sophisticated motion planning and control for robots in uncertain environments. However, state-of-the-art deep RL approaches typically lac…
A Case Study Analysis for Designing a Lunar Navigation Satellite System with Time-Transfer from Earth-GPS
Sriramya Bhamidipati, Tara Mina, Grace Gao
Recently, there has been a growing interest in the use of a SmallSat platform for the future Lunar Navigation Satellite System (LNSS) to allow for cost-effectiveness and rapid depl…
Improving GNSS Positioning using Neural Network-based Corrections
Ashwin V. Kanhere, Shubh Gupta, Akshay Shetty +1
Deep Neural Networks (DNNs) are a promising tool for Global Navigation Satellite System (GNSS) positioning in the presence of multipath and non-line-of-sight errors, owing to their…
Decentralized Connectivity Maintenance for Multi-robot Systems Under Motion and Sensing Uncertainties
Akshay Shetty, Timmy Hussain, Grace Gao
Communication connectivity is desirable for safe and efficient operation of multi-robot systems. While decentralized algorithms for connectivity maintenance have been explored in r…
Constrained Feedforward Neural Network Training via Reachability Analysis
Long Kiu Chung, Adam Dai, Derek Knowles +2
Neural networks have recently become popular for a wide variety of uses, but have seen limited application in safety-critical domains such as robotics near and around humans. This…
A Particle Filtering Framework for Integrity Risk of GNSS-Camera Sensor Fusion
Adyasha Mohanty, Shubh Gupta, Grace Xingxin Gao
Adopting a joint approach towards state estimation and integrity monitoring results in unbiased integrity monitoring unlike traditional approaches. So far, a joint approach was use…
Robust GPS-Vision Localization via Integrity-Driven Landmark Attention
Sriramya Bhamidipati, Grace Xingxin Gao
For robust GPS-vision navigation in urban areas, we propose an Integrity-driven Landmark Attention (ILA) technique via stochastic reachability. Inspired by cognitive attention in h…
GPS Spoofing Mitigation and Timing Risk Analysis in Networked PMUs via Stochastic Reachability
Sriramya Bhamidipati, Grace Xingxin Gao
To address PMU vulnerability against spoofing, we propose a set-valued state estimation technique known as Stochastic Reachability-based Distributed Kalman Filter (SR-DKF) that com…
Reliable GNSS Localization Against Multiple Faults Using a Particle Filter Framework
Shubh Gupta, Grace X. Gao
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudoran…
Data-Driven Protection Levels for Camera and 3D Map-based Safe Urban Localization
Shubh Gupta, Grace X. Gao
Reliably assessing the error in an estimated vehicle position is integral for ensuring the vehicle's safety in urban environments. Many existing approaches use GNSS measurements to…
Designing Low-Correlation GPS Spreading Codes with a Natural Evolution Strategy Machine Learning Algorithm
Tara Yasmin Mina, Grace Xingxin Gao
With the birth of the next-generation GPS III constellation and the upcoming launch of the Navigation Technology Satellite-3 (NTS-3) testing platform to explore future technologies…
Trajectory Planning Under Stochastic and Bounded Sensing Uncertainties Using Reachability Analysis
Akshay Shetty, Grace Xingxin Gao
Trajectory planning under uncertainty is an active research topic. Previous works predict state and state estimation uncertainties along trajectories to check for collision safety.…
Connectivity Maintenance for Multi-Robot Systems Under Motion and Sensing Uncertainties Using Distributed ADMM-based Trajectory Planning
Akshay Shetty, Derek Knowles, Grace Xingxin Gao
Inter-robot communication enables multi-robot systems to coordinate and execute complex missions efficiently. Thus, maintaining connectivity of the communication network between ro…
SLAM-based Integrity Monitoring Using GPS and Fish-eye Camera
Sriramya Bhamidipati, Grace Xingxin Gao
Urban navigation using GPS and fish-eye camera suffers from multipath effects in GPS measurements and data association errors in pixel intensities across image frames. We propose a…
UAV Pose Estimation using Cross-view Geolocalization with Satellite Imagery
Akshay Shetty, Grace Xingxin Gao
We propose an image-based cross-view geolocalization method that estimates the global pose of a UAV with the aid of georeferenced satellite imagery. Our method consists of two Siam…
Navigating Robot Swarms Using Collective Intelligence Learned from Golden Shiner Fish
Grace Gao
Navigating networked robot swarms often requires knowing where to go, sensing the environment, and path-planning based on the destination and barriers in the environment. Such a pr…
Accuracy of Range-Based Cooperative Localization in Wireless Sensor Networks: A Lower Bound Analysis
Liang Heng, Grace Xingxin Gao
Accurate location information is essential for many wireless sensor network (WSN) applications. A location-aware WSN generally includes two types of nodes: sensors whose locations…