20 citations · 33 across the 11 of their papers we have counts for
11 papers
Safe Payload Transfer with Ship-Mounted Cranes: A Robust Model Predictive Control Approach
Ersin Das, William A. Welch, Patrick Spieler +14
Ensuring safe real-time control of ship-mounted cranes in unstructured transportation environments requires handling multiple safety constraints while maintaining effective payload…
AI Space Cortex: An Experimental System for Future Era Space Exploration
Thomas Touma, Ersin Daş, Erica Tevere +9
Our Robust, Explainable Autonomy for Scientific Icy Moon Operations (REASIMO) effort contributes to NASA's Concepts for Ocean worlds Life Detection Technology (COLDTech) program, w…
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…
Bayesian Optimal Experimental Design for Robot Kinematic Calibration
Ersin Das, Thomas Touma, Joel W. Burdick
This paper develops a Bayesian optimal experimental design for robot kinematic calibration on . Our method builds upon a Gaussian process ap…
A Learning-Based Framework for Safe Human-Robot Collaboration with Multiple Backup Control Barrier Functions
Neil C. Janwani, Ersin Daş, Thomas Touma +3
Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that lever…
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains
Sharmita Dey, David Fan, Robin Schmid +5
Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face…
Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments
Xianmei Lei, Taeyeon Kim, Nicolas Marchal +8
Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and chall…
ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity
Maira Saboia, Lillian Clark, Vivek Thangavelu +16
Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves…
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…
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…
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion
Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur +8
This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme environments, pa…