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cs.RO2025
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…
cs.RO2025
Belief Roadmaps with Uncertain Landmark Evanescence
Erick Fuentes, Jared Strader, Ethan Fahnestock +1
We would like a robot to navigate to a goal location while minimizing state uncertainty. To aid the robot in this endeavor, maps provide a prior belief over the location of objects…