71 citations · 100 across the 18 of their papers we have counts for
20 papers
SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments
Kota Kondo, Jesús Tordesillas, Jonathan P. How +3
This paper presents SANDO, a safe trajectory planner for 3D dynamic unknown environments. Existing soft-constraint planners are fast but do not guarantee collision-free paths, whil…
FOCI: Trajectory Optimization on Gaussian Splats
Mario Gomez Andreu, Maximum Wilder-Smith, Victor Klemm +3
3D Gaussian Splatting (3DGS) has recently gained popularity as a faster alternative to Neural Radiance Fields (NeRFs) in 3D reconstruction and view synthesis methods. Leveraging th…
DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation
Joshua Bagajo, Clemens Schwarke, Victor Klemm +5
Differentiable simulators provide analytic gradients, enabling more sample-efficient learning algorithms and paving the way for data intensive learning tasks such as learning from…
Continuous-Time State Estimation Methods in Robotics: A Survey
William Talbot, Julian Nubert, Turcan Tuna +5
Accurate, efficient, and robust state estimation is more important than ever in robotics as the variety of platforms and complexity of tasks continue to grow. Historically, discret…
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…
Learning Deployable Locomotion Control via Differentiable Simulation
Clemens Schwarke, Victor Klemm, Joshua Bagajo +4
Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich task…
RAYEN: Imposition of Hard Convex Constraints on Neural Networks
Jesus Tordesillas, Victor Klemm, Jonathan P. How +1
Despite the numerous applications of convex constraints in Robotics, enforcing them within learning-based frameworks remains an open challenge. Existing techniques either fail to g…
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…
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…
Deep-PANTHER: Learning-Based Perception-Aware Trajectory Planner in Dynamic Environments
Jesus Tordesillas, Jonathan P. How
This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the U…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…
PANTHER: Perception-Aware Trajectory Planner in Dynamic Environments
Jesus Tordesillas, Jonathan P. How
This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans trajectories…
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments
Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai +4
State estimation for robots navigating in GPS-denied and perceptually-degraded environments, such as underground tunnels, mines and planetary subsurface voids, remains challenging…
Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions
Rohan Thakker, Nikhilesh Alatur, David D. Fan +5
We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and…
MADER: Trajectory Planner in Multi-Agent and Dynamic Environments
Jesus Tordesillas, Jonathan P. How
This paper presents MADER, a 3D decentralized and asynchronous trajectory planner for UAVs that generates collision-free trajectories in environments with static obstacles, dynamic…
MINVO Basis: Finding Simplexes with Minimum Volume Enclosing Polynomial Curves
Jesus Tordesillas, Jonathan P. How
This paper studies the polynomial basis that generates the smallest -simplex enclosing a given -degree polynomial curve in . Although the Bernstein…
FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments
Jesus Tordesillas, Brett T. Lopez, Michael Everett +1
Planning high-speed trajectories for UAVs in unknown environments requires algorithmic techniques that enable fast reaction times to guarantee safety as more information about the…
Personalized Cancer Chemotherapy Schedule: a numerical comparison of performance and robustness in model-based and model-free scheduling methodologies
Jesus Tordesillas, Juncal Arbelaiz
Reinforcement learning algorithms are gaining popularity in fields in which optimal scheduling is important, and oncology is not an exception. The complex and uncertain dynamics of…
FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments
Jesus Tordesillas, Brett T. Lopez, Jonathan P. How
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the op…
Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments
Jesus Tordesillas, Brett T. Lopez, John Carter +2
Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begu…