38 citations · 60 across the 14 of their papers we have counts for
14 papers
Planning along Differentiable Charts of Constraint Manifolds with General-Purpose IK Solvers
Thomas Cohn, Seiji Shaw, Harel Biggie +3
Planning trajectories for robot manipulators under kinematic equality constraints restricts feasible motions to a measure-zero submanifold of the configuration space, requiring spe…
Belief Consistency Between Foundation-Model Evidence and Geometric Perception in Persistent Robotic Maps
Christoffer Heckman, Harel Biggie, Brendan Crowe +1
Persistent maps used by autonomous robots increasingly fuse a geometric perception stack whose assertions are well-characterized with a foundation-model channel that produces seman…
Structured Interfaces for Automated Reasoning with 3D Scene Graphs
Aaron Ray, Jacob Arkin, Harel Biggie +3
In order to provide a robot with the ability to understand and react to a user's natural language inputs, the natural language must be connected to the robot's underlying represent…
CU-Multi: A Dataset for Multi-Robot Collaborative Perception
Doncey Albin, Daniel McGann, Miles Mena +6
A central challenge for multi-robot systems is fusing independently gathered perception data into a unified representation. Despite progress in Collaborative SLAM (C-SLAM), benchma…
CU-Multi: A Dataset for Multi-Robot Data Association
Doncey Albin, Miles Mena, Annika Thomas +5
Multi-robot systems (MRSs) are valuable for tasks such as search and rescue due to their ability to coordinate over shared observations. A central challenge in these systems is ali…
CogExplore: Contextual Exploration with Language-Encoded Environment Representations
Harel Biggie, Patrick Cooper, Doncey Albin +2
Integrating language models into robotic exploration frameworks improves performance in unmapped environments by providing the ability to reason over semantic groundings, contextua…
Restorebot: Towards an Autonomous Robotics Platform for Degraded Rangeland Restoration
Kristen Such, Harel Biggie, Christoffer Heckman
Degraded rangelands undergo continual shifts in the appearance and distribution of plant life. The nature of these changes however is subtle: between seasons seedlings sprout up an…
Tell Me Where to Go: A Composable Framework for Context-Aware Embodied Robot Navigation
Harel Biggie, Ajay Narasimha Mopidevi, Dusty Woods +1
Humans have the remarkable ability to navigate through unfamiliar environments by solely relying on our prior knowledge and descriptions of the environment. For robots to perform t…
Kalman Filter Auto-tuning through Enforcing Chi-Squared Normalized Error Distributions with Bayesian Optimization
Zhaozhong Chen, Harel Biggie, Nisar Ahmed +2
The nonlinear and stochastic relationship between noise covariance parameter values and state estimator performance makes optimal filter tuning a very challenging problem. Popular…
BO-ICP: Initialization of Iterative Closest Point Based on Bayesian Optimization
Harel Biggie, Andrew Beathard, Christoffer Heckman
Typical algorithms for point cloud registration such as Iterative Closest Point (ICP) require a favorable initial transform estimate between two point clouds in order to perform a…
Flexible Supervised Autonomy for Exploration in Subterranean Environments
Harel Biggie, Eugene R. Rush, Danny G. Riley +9
While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without t…
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…
Heterogeneous Ground-Air Autonomous Vehicle Networking in Austere Environments: Practical Implementation of a Mesh Network in the DARPA Subterranean Challenge
Harel Biggie, Steve McGuire
Implementing a wireless mesh network in a real-life scenario requires a significant systems engineering effort to turn a network concept into a complete system. This paper presents…
Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration
Michael T. Ohradzansky, Eugene R. Rush, Danny G. Riley +9
Artificial intelligence has undergone immense growth and maturation in recent years, though autonomous systems have traditionally struggled when fielded in diverse and previously u…