4 citations · 12 across the 11 of their papers we have counts for
11 papers · 1 filter
Riemannian Optimization for Active Mapping with Robot Teams
Arash Asgharivaskasi, Fritz Girke, Nikolay Atanasov
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Id…
Distributed Optimization with Consensus Constraint for Multi-Robot Semantic Octree Mapping
Arash Asgharivaskasi, Nikolay Atanasov
This work develops a distributed optimization algorithm for multi-robot 3-D semantic mapping using streaming range and visual observations and single-hop communication. Our approac…
Optimal Scene Graph Planning with Large Language Model Guidance
Zhirui Dai, Arash Asgharivaskasi, Thai Duong +4
Recent advances in metric, semantic, and topological mapping have equipped autonomous robots with semantic concept grounding capabilities to interpret natural language tasks. This…
Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories
Pengzhi Yang, Shumon Koga, Arash Asgharivaskasi +1
This paper proposes a novel model-based policy gradient algorithm for tracking dynamic targets using a mobile robot, equipped with an onboard sensor with limited field of view. The…
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…
Learning Continuous Control Policies for Information-Theoretic Active Perception
Pengzhi Yang, Yuhan Liu, Shumon Koga +2
This paper proposes a method for learning continuous control policies for active landmark localization and exploration using an information-theoretic cost. We consider a mobile rob…
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…
Semantic OcTree Mapping and Shannon Mutual Information Computation for Robot Exploration
Arash Asgharivaskasi, Nikolay Atanasov
Autonomous robot operation in unstructured and unknown environments requires efficient techniques for mapping and exploration using streaming range and visual observations. Informa…
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…