14 citations · 19 across the 9 of their papers we have counts for
6 papers · 1 filter
AMP2026: A Multi-Platform Marine Robotics Dataset for Tracking and Mapping
Edwin Meriaux, Shuo Wen, David Widhalm +11
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and su…
Low-Cost Underwater In-Pipe Centering and Inspection Using a Minimal-Sensing Robot
Kalvik Jakkala, Jason O'Kane
Autonomous underwater inspection of submerged pipelines is challenging due to confined geometries, turbidity, and the scarcity of reliable localization cues. This paper presents a…
Schur-MI: Fast Mutual Information for Robotic Information Gathering
Kalvik Jakkala, Jason O'Kane, Srinivas Akella
Mutual information (MI) is a principled and widely used objective for robotic information gathering (RIG), providing strong theoretical guarantees for sensor placement (SP) and inf…
Informative Path Planning with Guaranteed Estimation Uncertainty
Kalvik Jakkala, Saurav Agarwal, Jason O'Kane +1
Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower sur…
Multi-Robot Informative Path Planning from Regression with Sparse Gaussian Processes (with Appendix)
Kalvik Jakkala, Srinivas Akella
This paper addresses multi-robot informative path planning (IPP) for environmental monitoring. The problem involves determining informative regions in the environment that should b…
Efficient Sensor Placement from Regression with Sparse Gaussian Processes in Continuous and Discrete Spaces
Kalvik Jakkala, Srinivas Akella
The sensor placement problem is a common problem that arises when monitoring correlated phenomena, such as temperature, precipitation, and salinity. Existing approaches to this pro…