5 papers
SPARSER: Sparse Variable Projection by Exploiting Separable Structure in Robotic Perception
Nikolas R. Sanderson, Andrew Fishberg, Haoyu Han +5
Robotic perception often requires solving large nonlinear least-squares (NLS) problems. While sparsity has been widely exploited to scale solvers, a complementary and underused str…
Sparse Variable Projection in Robotic Perception: Exploiting Separable Structure for Efficient Nonlinear Optimization
Alan Papalia, Nikolas Sanderson, Haoyu Han +3
Robotic perception often requires solving large nonlinear least-squares (NLS) problems. While sparsity has been well-exploited to scale solvers, a complementary and underexploited…
Practical and Performant Enhancements for Maximization of Algebraic Connectivity
Leonard Jung, Alan Papalia, Kevin Doherty +1
Long-term state estimation over graphs remains challenging as current graph estimation methods scale poorly on large, long-term graphs. To address this, our work advances a current…
A Roadmap for Climate-Relevant Robotics Research
Alan Papalia, Charles Dawson, Laurentiu L. Anton +25
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for clima…
Learning Smooth State-Dependent Traversability from Dense Point Clouds
Zihao Dong, Alan Papalia, Leonard Jung +4
A key open challenge in off-road autonomy is that the traversability of terrain often depends on the vehicle's state. In particular, some obstacles are only traversable from some o…