12 citations · 29 across the 14 of their papers we have counts for
7 papers · 1 filter
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…
Embracing Large Language and Multimodal Models for Prosthetic Technologies
Sharmita Dey, Arndt F. Schilling
This article presents a vision for the future of prosthetic devices, leveraging the advancements in large language models (LLMs) and Large Multimodal Models (LMMs) to revolutionize…
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge
Anushri Dixit, David D. Fan, Kyohei Otsu +3
Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-…
Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain
Robin Schmid, Deegan Atha, Frederik Schöller +8
Navigating off-road with a fast autonomous vehicle depends on a robust perception system that differentiates traversable from non-traversable terrain. Typically, this depends on a…
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…
Learning a Shared Model for Motorized Prosthetic Joints to Predict Ankle-Joint Motion
Sharmita Dey, Sabri Boughorbel, Arndt F. Schilling
Control strategies for active prostheses or orthoses use sensor inputs to recognize the user's locomotive intention and generate corresponding control commands for producing the de…
Learning Risk-aware Costmaps for Traversability in Challenging Environments
David D. Fan, Sharmita Dey, Ali-akbar Agha-mohammadi +1
One of the main challenges in autonomous robotic exploration and navigation in unknown and unstructured environments is determining where the robot can or cannot safely move. A sig…