14 citations · 27 across the 12 of their papers we have counts for
12 papers
PRoID: Predicted Rate of Information Delivery in Multi-Robot Exploration and Relaying
Seungchan Kim, Seungjae Baek, Micah Corah +3
We address Multi-Robot Exploration and Relaying (MRER): a team of robots must explore an unknown environment and deliver acquired information to a fixed base station within a missi…
Nightmare Dreamer: Dreaming About Unsafe States And Planning Ahead
Oluwatosin Oseni, Shengjie Wang, Jun Zhu +1
Reinforcement Learning (RL) has shown remarkable success in real-world applications, particularly in robotics control. However, RL adoption remains limited due to insufficient safe…
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
CoCap: Coordinated motion Capture for multi-actor scenes in outdoor environments
Aditya Rauniyar, Micah Corah, Sebastian Scherer
Motion capture has become increasingly important, not only in computer animation but also in emerging fields like the virtual reality, bioinformatics, and humanoid training. Captur…
Multi-Robot Planning for Filming Groups of Moving Actors Leveraging Submodularity and Pixel Density
Skyler Hughes, Rebecca Martin, Micah Corah +1
Observing and filming a group of moving actors with a team of aerial robots is a challenging problem that combines elements of multi-robot coordination, coverage, and view planning…
Greedy Perspectives: Multi-Drone View Planning for Collaborative Perception in Cluttered Environments
Krishna Suresh, Aditya Rauniyar, Micah Corah +1
Deployment of teams of aerial robots could enable large-scale filming of dynamic groups of people (actors) in complex environments for applications in areas such as team sports and…
Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Circular Decomposition
Seungchan Kim, Micah Corah, John Keller +2
This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple f…
Scalable Distributed Planning for Multi-Robot, Multi-Target Tracking
Micah Corah, Nathan Michael
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-…
A Simple Bound for Resilient Submodular Maximization with Curvature
Micah Corah
Resilient submodular maximization refers to the combinatorial problems studied by Nemhauser and Fisher and asks how to maximize an objective given a number of adversarial removals.…
Volumetric Objectives for Multi-Robot Exploration of Three-Dimensional Environments
Micah Corah, Nathan Michael
Volumetric objectives for exploration and perception tasks seek to capture a sense of value (or reward) for hypothetical observations at one or more camera views for robots operati…
Sensor Planning for Large Numbers of Robots
Micah Corah
*The following abbreviates the abstract. Please refer to the thesis for the full abstract.* After a disaster, locating and extracting victims quickly is critical because mortality…
BAXTER: Bi-modal Aerial-Terrestrial Hybrid Vehicle for Long-endurance Versatile Mobility: Preprint Version
Hyungho Chris Choi, Inhwan Wee, Micah Corah +5
Unmanned aerial vehicles are rapidly evolving within the field of robotics. However, their performance is often limited by payload capacity, operational time, and robustness to imp…