6 citations · 7 across the 2 of their papers we have counts for
4 papers · 1 filter
Collision Probabilities for Continuous-Time Systems Without Sampling [with Appendices]
Kristoffer M. Frey, Ted J. Steiner, Jonathan P. How
Demand for high-performance, robust, and safe autonomous systems has grown substantially in recent years. These objectives motivate the desire for efficient safety-theoretic reason…
Towards Online Observability-Aware Trajectory Optimization for Landmark-based Estimators
Kristoffer M. Frey, Ted J. Steiner, Jonathan P. How
As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled.…
Efficient Constellation-Based Map-Merging for Semantic SLAM
Kristoffer M. Frey, Ted J. Steiner, Jonathan P. How
Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements ar…
Complexity Analysis and Efficient Measurement Selection Primitives for High-Rate Graph SLAM
Kristoffer M. Frey, Ted J. Steiner, Jonathan P. How
Sparsity has been widely recognized as crucial for efficient optimization in graph-based SLAM. Because the sparsity and structure of the SLAM graph reflect the set of incorporated…