3 citations · 3 across the 5 of their papers we have counts for
5 papers
Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning
Daniel T. Larsson, Arash Asgharivaskasi, Jaein Lim +2
In this paper, we develop an approach that enables autonomous robots to build and compress semantic environment representations from point-cloud data. Our approach builds a three-d…
Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories
Arash Asgharivaskasi, Shumon Koga, Nikolay Atanasov
The problem of active mapping aims to plan an informative sequence of sensing views given a limited budget such as distance traveled. This paper consider active occupancy grid mapp…
Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem i…
Active Exploration and Mapping via Iterative Covariance Regulation over Continuous Trajectories
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
This paper develops \emph{iterative Covariance Regulation} (iCR), a novel method for active exploration and mapping for a mobile robot equipped with on-board sensors. The problem i…
Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observation
Arash Asgharivaskasi, Nikolay Atanasov
Many robot applications call for autonomous exploration and mapping of unknown and unstructured environments. Information-based exploration techniques, such as Cauchy-Schwarz quadr…