8 citations · 15 across the 11 of their papers we have counts for
10 papers · 1 filter
Multi-robot Learning-based Informative Path Planning Using Spatio-Temporal Gaussian Process Kalman Filter
Muqing Cao, Yunwoo Lee, Junbin Yuan +2
Multi-robot informative path planning (IPP) for persistent target monitoring requires robots to reason about spatial uncertainty, temporal evolution, and practical sensing and comm…
SCOPE: Field-of-View-Aware Path Planning in Unknown Space via Safety-Volume Certification
Junbin Yuan, Muqing Cao, Yunwoo Lee +2
Safe navigation with a body-mounted limited-field-of-view sensor requires the complete robot-inflated volume of an intended motion to be observed and verified free before execution…
PRoID: Predicted Rate of Information Delivery in Multi-Robot Exploration and Relaying
Seungchan Kim, Seungjae Baek, Micah Corah +3
We address Multi-Robot Exploration and Relaying (MRER): a team of robots must explore an unknown environment and deliver acquired information to a fixed base station within a missi…
Learning Energy-Efficient Air--Ground Actuation for Hybrid Robots on Stair-Like Terrain
Jiaxing Li, Wen Tian, Ishaan Bhimwal +5
Hybrid aerial--ground robots can use thrust to cross obstacles that impede wheel-driven motion, but deciding how much thrust to apply during contact remains challenging. We present…
Hierarchical Planning for Long-Horizon Multi-Target Tracking Under Target Motion Uncertainty
Junbin Yuan, Brady Moon, Muqing Cao +1
Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As…
IA-TIGRIS: An Incremental and Adaptive Sampling-Based Planner for Online Informative Path Planning
Brady Moon, Nayana Suvarna, Andrew Jong +4
Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collectio…
MapEx: Indoor Structure Exploration with Probabilistic Information Gain from Global Map Predictions
Cherie Ho, Seungchan Kim, Brady Moon +6
Exploration is a critical challenge in robotics, centered on understanding unknown environments. In this work, we focus on robots exploring structured indoor environments which are…
Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV
Aditya Parandekar, Brady Moon, Nayana Suvarna +1
Uncrewed Aerial Vehicles (UAVs) are a leading choice of platforms for a variety of information-gathering applications. Sensor planning can enhance the efficiency and success of the…
UniSaT: Unified-Objective Belief Model and Planner to Search for and Track Multiple Objects
Leonardo Santos, Brady Moon, Sebastian Scherer +1
Path planning for autonomous search and tracking of multiple objects is a critical problem in applications such as reconnaissance, surveillance, and data gathering. Due to the inhe…
Aerial Field Robotics
Mihir Kulkarni, Brady Moon, Kostas Alexis +1
Aerial field robotics research represents the domain of study that aims to equip unmanned aerial vehicles - and as it pertains to this chapter, specifically Micro Aerial Vehicles (…