2 citations · 3 across the 11 of their papers we have counts for
10 papers · 1 filter
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…
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…
Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs
Jared Strader, Aaron Ray, Jacob Arkin +11
In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructio…
DYNUS: Uncertainty-aware Trajectory Planner in Dynamic Unknown Environments
Kota Kondo, Mason Peterson, Nicholas Rober +5
This paper introduces DYNUS, an uncertainty-aware trajectory planner designed for dynamic unknown environments. Operating in such settings presents many challenges -- most notably,…
ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization
Mason B. Peterson, Yixuan Jia, Yulun Tian +2
Global localization is a fundamental capability required for long-term and drift-free robot navigation. However, current methods fail to relocalize when faced with significantly di…
PRIMER: Perception-Aware Robust Learning-based Multiagent Trajectory Planner
Kota Kondo, Claudius T. Tewari, Andrea Tagliabue +4
In decentralized multiagent trajectory planners, agents need to communicate and exchange their positions to generate collision-free trajectories. However, due to localization error…
TCAFF: Temporal Consistency for Robot Frame Alignment
Mason B. Peterson, Parker C. Lusk, Antonio Avila +1
In the field of collaborative robotics, the ability to communicate spatial information like planned trajectories and shared environment information is crucial. When no global posit…
REAL: Resilience and Adaptation using Large Language Models on Autonomous Aerial Robots
Andrea Tagliabue, Kota Kondo, Tong Zhao +3
Large Language Models (LLMs) pre-trained on internet-scale datasets have shown impressive capabilities in code understanding, synthesis, and general purpose question-and-answering.…
PUMA: Fully Decentralized Uncertainty-aware Multiagent Trajectory Planner with Real-time Image Segmentation-based Frame Alignment
Kota Kondo, Claudius T. Tewari, Mason B. Peterson +4
Fully decentralized, multiagent trajectory planners enable complex tasks like search and rescue or package delivery by ensuring safe navigation in unknown environments. However, de…
MOTLEE: Distributed Mobile Multi-Object Tracking with Localization Error Elimination
Mason B. Peterson, Parker C. Lusk, Jonathan P. How
We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error.…