12 papers
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…
NeuroMesh: A Unified Neural Inference Framework for Decentralized Multi-Robot Collaboration
Yang Zhou, Yash Shetye, Long Quang +8
Deploying learned multi-robot models on heterogeneous robots remains challenging due to hardware heterogeneity, communication constraints, and the lack of a unified execution stack…
B-ActiveSEAL: Scalable Uncertainty-Aware Active Exploration with Tightly Coupled Localization-Mapping
Min-Won Seo, Aamodh Suresh, Carlos Nieto-Granda +1
Active robot exploration requires decision-making processes that integrate localization and mapping under tightly coupled uncertainty. However, managing these interdependent uncert…
BEASST: Behavioral Entropic Gradient based Adaptive Source Seeking for Mobile Robots
Donipolo Ghimire, Aamodh Suresh, Carlos Nieto-Granda +1
This paper presents BEASST (Behavioral Entropic Gradient-based Adaptive Source Seeking for Mobile Robots), a novel framework for robotic source seeking in complex, unknown environm…
Behaviorally Heterogeneous Multi-Agent Exploration Using Distributed Task Allocation
Nirabhra Mandal, Aamodh Suresh, Carlos Nieto-Granda +1
We study a problem of multi-agent exploration with behaviorally heterogeneous robots. Each robot maps its surroundings using SLAM and identifies a set of areas of interest (AoIs) o…
Behaviorally Adaptive Multi-Robot Hazard Localization in Failure-Prone, Communication-Denied Environments
Alkesh K. Srivastava, Aamodh Suresh, Carlos Nieto-Granda
We address the challenge of multi-robot autonomous hazard mapping in high-risk, failure-prone, communication-denied environments such as post-disaster zones, underground mines, cav…