38 citations · 58 across the 13 of their papers we have counts for
13 papers
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…
Active Signal Emitter Placement In Complex Environments
Christopher E. Denniston, Baskın Şenbaşlar, Gaurav S. Sukhatme
Placement of electromagnetic signal emitting devices, such as light sources, has important usage in for signal coverage tasks. Automatic placement of these devices is challenging b…
Reducing Network Load via Message Utility Estimation for Decentralized Multirobot Teams
Isabel M. Rayas Fernández, Christopher E. Denniston, Gaurav S. Sukhatme
We are motivated by quantile estimation of algae concentration in lakes and how decentralized multirobot teams can effectively tackle this problem. We find that multirobot teams im…
Learned Parameter Selection for Robotic Information Gathering
Christopher E. Denniston, Gautam Salhotra, Akseli Kangaslahti +2
When robots are deployed in the field for environmental monitoring they typically execute pre-programmed motions, such as lawnmower paths, instead of adaptive methods, such as info…
A Study on Multirobot Quantile Estimation in Natural Environments
Isabel M. Rayas Fernández, Christopher E. Denniston, Gaurav S. Sukhatme
Quantiles of a natural phenomena can provide scientists with an important understanding of different spreads of concentrations. When there are several available robots, it may be a…
Fast and Scalable Signal Inference for Active Robotic Source Seeking
Christopher E. Denniston, Oriana Peltzer, Joshua Ott +6
In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking…
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT co…
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Yun Chang, Kamak Ebadi, Christopher E. Denniston +9
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requ…
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Christopher E. Denniston, Yun Chang, Andrzej Reinke +5
Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment,…
Informative Path Planning to Estimate Quantiles for Environmental Analysis
Isabel M. Rayas Fernández, Christopher E. Denniston, David A. Caron +1
Scientists interested in studying natural phenomena often take physical specimens from locations in the environment for later analysis. These analysis locations are typically speci…
Adaptive Sampling using POMDPs with Domain-Specific Considerations
Gautam Salhotra, Christopher E. Denniston, David A. Caron +1
We investigate improving Monte Carlo Tree Search based solvers for Partially Observable Markov Decision Processes (POMDPs), when applied to adaptive sampling problems. We propose i…
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation
Eric Heiden, Christopher E. Denniston, David Millard +2
To accurately reproduce measurements from the real world, simulators need to have an adequate model of the physical system and require the parameters of the model be identified. We…
Planning Safe Paths through Hazardous Environments
Chris Denniston, Thomas R. Krogstad, Stephanie Kemna +1
Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) ope…