13 papers
RoboAtlas: Contextual Active SLAM
Alexander Schperberg, Shivam K. Panda, Abraham P. Vinod +3
We present RoboAtlas, a contextual Active SLAM framework that adaptively balances geometric exploration and semantic reasoning using a scalable 3D semantic mapping system, OpenRobo…
Autonomous Navigation and Station-Keeping on Near-Rectilinear Halo Orbits
Yuri Shimane, Karl Berntorp, Stefano Di Cairano +1
This article develops an optical navigation (OPNAV) and station-keeping pipeline for the near-rectilinear halo orbit (NRHO) in high-fidelity ephemeris model dynamics, using synthet…
Data-driven Spatial Classification using Multi-Arm Bandits for Monitoring with Energy-Constrained Mobile Robots
Xiaoshan Lin, Siddharth Nayak, Stefano Di Cairano +1
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several application…
MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll
Alexander Schperberg, Yusuke Tanaka, Stefano Di Cairano +1
This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers fo…
Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control
Alexander Schperberg, Yeping Wang, Stefano Di Cairano
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm…
PRISM: Performer RS-IMLE for Single-pass Multisensory Imitation Learning
Amisha Bhaskar, Pratap Tokekar, Stefano Di Cairano +1
Robotic imitation learning typically requires models that capture multimodal action distributions while operating at real-time control rates and accommodating multiple sensing moda…