4 citations · 9 across the 17 of their papers we have counts for
6 papers · 1 filter
ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization
Mason B. Peterson, Yixuan Jia, Yulun Tian +2
Global localization is a fundamental capability required for long-term and drift-free robot navigation. However, current methods fail to relocalize when faced with significantly di…
PRIMER: Perception-Aware Robust Learning-based Multiagent Trajectory Planner
Kota Kondo, Claudius T. Tewari, Andrea Tagliabue +4
In decentralized multiagent trajectory planners, agents need to communicate and exchange their positions to generate collision-free trajectories. However, due to localization error…
CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning
Kota Kondo, Andrea Tagliabue, Xiaoyi Cai +4
Traditional optimization-based planners, while effective, suffer from high computational costs, resulting in slow trajectory generation. A successful strategy to reduce computation…
TCAFF: Temporal Consistency for Robot Frame Alignment
Mason B. Peterson, Parker C. Lusk, Antonio Avila +1
In the field of collaborative robotics, the ability to communicate spatial information like planned trajectories and shared environment information is crucial. When no global posit…
CLIPPER: Robust Data Association without an Initial Guess
Parker C. Lusk, Jonathan P. How
Identifying correspondences in noisy data is a critically important step in estimation processes. When an informative initial estimation guess is available, the data association ch…
SOS-Match: Segmentation for Open-Set Robust Correspondence Search and Robot Localization in Unstructured Environments
Annika Thomas, Jouko Kinnari, Parker Lusk +2
We present SOS-Match, a novel framework for detecting and matching objects in unstructured environments. Our system consists of 1) a front-end mapping pipeline using a zero-shot se…