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cs.RO2021★ 59 cited
Resilient and consistent multirobot cooperative localization with covariance intersection
Tsang-Kai Chang, Kenny Chen, Ankur Mehta
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible…
cs.RO2020
Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance
Alexander Schperberg, Kenny Chen, Stephanie Tsuei +5
In this paper, we propose an online path planning architecture that extends the model predictive control (MPC) formulation to consider future location uncertainties for safer navig…