5 papers
A Dual Approach for Hierarchical Information-Theoretic Tree Abstractions
Daniel T. Larsson, Dipankar Maity, Panagiotis Tsiotras
In this paper, we consider establishing a formal connection between two distinct tree-abstraction problems inspired by the information-bottleneck (IB) method. Specifically, we cons…
Communication-Aware Map Compression for Online Path-Planning: A Rate-Distortion Approach
Ali Reza Pedram, Evangelos Psomiadis, Dipankar Maity +1
This paper addresses the problem of collaborative navigation in an unknown environment, where two robots, referred to in the sequel as the Seeker and the Supporter, traverse the sp…
HCOA*: Hierarchical Class-ordered A* for Navigation in Semantic Environments
Evangelos Psomiadis, Panagiotis Tsiotras
This paper addresses the problem of robot navigation in mixed geometric/semantic 3D environments. Given a hierarchical representation of the environment, the objective is to naviga…
Communication-Aware Iterative Map Compression for Online Path-Planning
Evangelos Psomiadis, Ali Reza Pedram, Dipankar Maity +1
This paper addresses the problem of optimizing communicated information among heterogeneous, resource-aware robot teams to facilitate their navigation. In such operations, a mobile…
Factor Graph-Based Active SLAM for Spacecraft Proximity Operations
Lorenzo Ticozzi, Panagiotis Tsiotras
We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objec…