226 citations · 1k across the 102 of their papers we have counts for
5 papers · 2 filters
Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang +1
In this paper, we aim to design sparse D-optimal (determinantoptimal) pose-graph SLAM problems through the synthesis of sparse graphs with the maximum weighted number of spanning t…
Informative Planning and Online Learning with Sparse Gaussian Processes
Kai-Chieh Ma, Lantao Liu, Gaurav S. Sukhatme
A big challenge in environmental monitoring is the spatiotemporal variation of the phenomena to be observed. To enable persistent sensing and estimation in such a setting, it is be…
Learning Relevant Features for Manipulation Skills using Meta-Level Priors
Oliver Kroemer, Gaurav S. Sukhatme
Robots can generalize manipulation skills between different scenarios by adapting to the features of the objects being manipulated. Selecting the set of relevant features for gener…
Observability-Aware Trajectory Optimization for Self-Calibration with Application to UAVs
Karol Hausman, James Preiss, Gaurav Sukhatme +1
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use th…
Interactive Perception: Leveraging Action in Perception and Perception in Action
Jeannette Bohg, Karol Hausman, Bharath Sankaran +4
Recent approaches in robotics follow the insight that perception is facilitated by interaction with the environment. These approaches are subsumed under the term of Interactive Per…