4 papers
Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation
Arthur Jakobsson, Abhinav Mahajan, Karthik Pullalarevu +6
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. We introduce Wiggle and Go!, a two-stage framework…
Learning Dynamic Rope Manipulation Using Task-Level Iterative Learning Control
Krishna Suresh, Chris Atkeson
We introduce a Task-Level Iterative Learning Control method for dynamic manipulation of ropes. We demonstrate this method on a non-planar rope manipulation task called the flying k…
The Invisible Map: Visual-Inertial SLAM with Fiducial Markers for Smartphone-based Indoor Navigation
Paul Ruvolo, Ayush Chakraborty, Rucha Dave +5
We present a system for creating building-scale, easily navigable 3D maps using mainstream smartphones. In our approach, we formulate the 3D-mapping problem as an instance of Graph…
Greedy Perspectives: Multi-Drone View Planning for Collaborative Perception in Cluttered Environments
Krishna Suresh, Aditya Rauniyar, Micah Corah +1
Deployment of teams of aerial robots could enable large-scale filming of dynamic groups of people (actors) in complex environments for applications in areas such as team sports and…