226 citations · 1k across the 102 of their papers we have counts for
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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…
A Spatio-Temporal Representation for the Orienteering Problem with Time-Varying Profits
Zhibei Ma, Kai Yin, Lantao Liu +1
We consider an orienteering problem (OP) where an agent needs to visit a series (possibly a subset) of depots, from which the maximal accumulated profits are desired within given l…
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…
Toward a Science of Autonomy for Physical Systems: Aerial Earth Science
M. Ani Hsieh, Srikanth Saripalli, Gaurav Sukhatme +1
Unmanned Aerial Vehicles (UAVs) equipped with LiDAR, electro-optical and infrared cameras, SAR and atmospheric sensors have transformed the way we acquire high spatio-temporal reso…
Toward a Science of Autonomy for Physical Systems: Defense
Ronald C. Arkin, Gaurav S. Sukhatme
Militaries around the world have long been cognizant of the potential benefits associated with autonomous systems both in the conduct of warfare and in its prevention. This has lea…
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…