6 papers
A Probabilistic Trajectory and Dispersion Study of Martian Tumbleweed Rover Swarms in Global Dust Storm Conditions
Emma-Catherine Belhadfa, Gabriele MT D'Eleuterio
Global Dust Storms (GDSs) dominate the Martian climate, yet the mechanisms of dust lifting, transport, and deposition remain poorly constrained because in situ observations are lim…
On the Eigenstructure of Rotations and Poses: Commonalities and Peculiarities
Gabriele M T D'Eleuterio, Timothy D Barfoot
Rotations and poses are ubiquitous throughout many fields of science and engineering such as robotics, aerospace, computer vision and graphics. In this paper, we provide a complete…
Vectorial Parameterizations of Pose
Timothy D. Barfoot, James R. Forbes, Gabriele M. T. D'Eleuterio
Robotics and computer vision problems commonly require handling rigid-body motions comprising translation and rotation - together referred to as pose. In some situations, a vectori…
Variational Inference as Iterative Projection in a Bayesian Hilbert Space with Application to Robotic State Estimation
Timothy D. Barfoot, Gabriele M. T. D'Eleuterio
Variational Bayesian inference is an important machine-learning tool that finds application from statistics to robotics. The goal is to find an approximate probability density func…
Autonomous Multirobot Excavation for Lunar Applications
Jekanthan Thangavelautham, Kenneth Law, Terence Fu +3
In this paper, a control approach called Artificial Neural Tissue (ANT) is applied to multirobot excavation for lunar base preparation tasks including clearing landing pads and bur…
Synthesis of recurrent neural networks for dynamical system simulation
Adam Trischler, Gabriele MT D'Eleuterio
We review several of the most widely used techniques for training recurrent neural networks to approximate dynamical systems, then describe a novel algorithm for this task. The alg…