7 papers
Resilient Active Information Acquisition with Teams of Robots
Brent Schlotfeldt, Vasileios Tzoumas, George J. Pappas
Emerging applications of collaborative autonomy, such as Multi-Target Tracking, Unknown Map Exploration, and Persistent Surveillance, require robots plan paths to navigate an envir…
Robust and Adaptive Sequential Submodular Optimization
Vasileios Tzoumas, Ali Jadbabaie, George J. Pappas
Emerging applications of control, estimation, and machine learning, ranging from target tracking to decentralized model fitting, pose resource constraints that limit which of the a…
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection
Heng Yang, Pasquale Antonante, Vasileios Tzoumas +1
Semidefinite Programming (SDP) and Sums-of-Squares (SOS) relaxations have led to certifiably optimal non-minimal solvers for several robotics and computer vision problems. However,…
Resilient Active Target Tracking with Multiple Robots
Lifeng Zhou, Vasileios Tzoumas, George J. Pappas +1
The problem of target tracking with multiple robots consists of actively planning the motion of the robots to track the targets. A major challenge for practical deployments is to m…
Resilient Active Information Gathering with Mobile Robots
Brent Schlotfeldt, Vasileios Tzoumas, Dinesh Thakur +1
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. How…
Resilient Monotone Sequential Maximization
Vasileios Tzoumas, Ali Jadbabaie, George J. Pappas
Applications in machine learning, optimization, and control require the sequential selection of a few system elements, such as sensors, data, or actuators, to optimize the system p…