1 citations · 1 across the 13 of their papers we have counts for
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SGM-SLAM: Scene Graph Matching for Data-Efficient Distributed SLAM
Yewei Huang, Tixiao Shan, Abhinav Rajvanshi +4
We introduce a data-efficient distributed Simultaneous Localization and Mapping (SLAM) framework for multi-robot operation in GPS-denied and communication-constrained environments.…
Multi-Session Ground Texture SLAM in Low-Dynamic Environments
Kyle M. Hart, Brendan Englot
The simultaneous localization and mapping community has introduced a growing number of systems adapted for multi-session operations where the operational environment features low-d…
Variable-Resolution Virtual Maps for Autonomous Exploration with Unmanned Surface Vehicles (USVs)
Ye Li, Yewei Huang, Yongchang Xie +4
Autonomous exploration by unmanned surface vehicles (USVs) in near-shore waters requires reliable localisation and consistent mapping over extended areas, but this is challenged by…
Towards Versatile Opti-Acoustic Sensor Fusion and Volumetric Mapping
Ivana Collado-Gonzalez, John McConnell, Brendan Englot
Accurate 3D volumetric mapping is critical for autonomous underwater vehicles operating in obstacle-rich environments. Vision-based perception provides high-resolution data but fai…
Opti-Acoustic Scene Reconstruction in Highly Turbid Underwater Environments
Ivana Collado-Gonzalez, John McConnell, Paul Szenher +1
Scene reconstruction is an essential capability for underwater robots navigating in close proximity to structures. Monocular vision-based reconstruction methods are unreliable in t…
DRACo-SLAM2: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar EquippedUnderwater Robot Teams with Object Graph Matching
Yewei Huang, John McConnell, Xi Lin +1
We present DRACo-SLAM2, a distributed SLAM framework for underwater robot teams equipped with multibeam imaging sonar. This framework improves upon the original DRACo-SLAM by intro…
Distributional Reinforcement Learning based Integrated Decision Making and Control for Autonomous Surface Vehicles
Xi Lin, Paul Szenher, Yewei Huang +1
With the growing demands for Autonomous Surface Vehicles (ASVs) in recent years, the number of ASVs being deployed for various maritime missions is expected to increase rapidly in…
Large-Scale Dense 3D Mapping Using Submaps Derived From Orthogonal Imaging Sonars
John McConnell, Ivana Collado-Gonzalez, Paul Szenher +1
3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoust…
A Bimanual Teleoperation Framework for Light Duty Underwater Vehicle-Manipulator Systems
Justin Sitler, Srikarran Sowrirajan, Brendan Englot +1
In an effort to lower the barrier to entry in underwater manipulation, this paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underw…
Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization
Yewei Huang, Xi Lin, Brendan Englot
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile rob…
Decentralized Multi-Robot Navigation for Autonomous Surface Vehicles with Distributional Reinforcement Learning
Xi Lin, Yewei Huang, Fanfei Chen +1
Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have bee…
MAC: Graph Sparsification by Maximizing Algebraic Connectivity
Kevin Doherty, Alan Papalia, Yewei Huang +3
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but memory and computational limits make long-term application of common SLAM techni…