7 papers
Learning-Based Measurement-Robust Control Barrier Functions for Obstacle Avoidance under State Estimation Error
Nicholas Rober, Yixuan Jia, Jonathan P. How
Safety filters are an effective tool for enforcing constraints in safety-critical systems, but most existing methods assume perfect state information, which is rarely available in…
CILC: Cryptographically-secure Inter-agent Loop Closure Candidate Detection for Multi-Agent Collaborative SLAM
Andrew Fishberg, Yixuan Jia, Jonathan P. How
Multi-agent Simultaneous Localization and Mapping (SLAM) and collaborative SLAM (CSLAM) require robots to continuously exchange global descriptors (GDs) to detect inter-agent loop…
Meridian: Metric-Semantic Primitive Matching for Cross-View Geo-Localization Beyond Urban Environments
Mason Peterson, Qingyuan Li, Yixuan Jia +4
Successful robot automation requires accurate global localization to support repeatability, task planning, goal specification, and safe operation. However, reliable localization in…
Robust Dynamic Object Detection in Cluttered Indoor Scenes via Learned Spatiotemporal Cues
Juan Rached, Yixuan Jia, Kota Kondo +1
Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heu…
Off-Road Navigation via Implicit Neural Representation of Terrain Traversability
Yixuan Jia, Qingyuan Li, Jonathan P. How
Autonomous off-road navigation requires robots to estimate terrain traversability from onboard sensors and plan motion accordingly. Conventional approaches typically rely on sampli…
Distribution Estimation for Global Data Association via Approximate Bayesian Inference
Yixuan Jia, Mason B. Peterson, Qingyuan Li +2
Global data association is an essential prerequisite for robot operation in environments seen at different times or by different robots. Repetitive or symmetric data creates signif…
Terrain-aware Low Altitude Path Planning
Yixuan Jia, Andrea Tagliabue, Annika Thomas +2
In this paper, we study the problem of generating low-altitude path plans for nap-of-the-earth (NOE) flight in real time with only RGB images from onboard cameras and the vehicle p…