11 papers
EvoPlan: Evolutionary Neuro-Symbolic Robot Planning with Spatio-Temporal Guarantees
Bhavya Sai Nukapotula, Samin Moosavi, Haoze Wang +4
LLM-based robot planners are fluent but cannot guarantee that their plans are executable or safe. Classical PDDL planners can guarantee these properties, but only after the problem…
REBAR: Reference Ethical Benchmark for Autonomy Readiness
Jonathan Diller, David Barnes, Rebekah Bogdanoff +14
As autonomous systems grow more advanced, objective metrics to evaluate their ethical and legal compliance are critical for informing end users of their limitations and ensuring ac…
Robotic Monitoring of Colorimetric Leaf Sensors for Precision Agriculture
Malakhi Hopkins, Alice Kate Li, Shobhita Kramadhati +8
Common remote sensing modalities (RGB, multispectral, hyperspectral imaging or LiDAR) are often used to indirectly measure crop health and do not directly capture plant stress indi…
Heterogeneous Robot Collaboration in Unstructured Environments with Grounded Generative Intelligence
Zachary Ravichandran, Fernando Cladera, Ankit Prabhu +5
Heterogeneous robot teams operating in realistic settings often must accomplish complex missions requiring collaboration and adaptation to information acquired online. Because robo…
Real-Time Glass Detection and Reprojection using Sensor Fusion Onboard Aerial Robots
Malakhi Hopkins, Varun Murali, Vijay Kumar +1
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. The…
RT-GuIDE: Real-Time Gaussian Splatting for Information-Driven Exploration
Yuezhan Tao, Dexter Ong, Varun Murali +3
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algor…