221 citations · 272 across the 5 of their papers we have counts for
7 papers
OpenSHC: A Versatile Multilegged Robot Controller
Benjamin Tam, Fletcher Talbot, Ryan Steindl +2
Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them diff…
Non-Linearity Measure for POMDP-based Motion Planning
Marcus Hoerger, Hanna Kurniawati, Alberto Elfes
Motion planning under uncertainty is essential for reliable robot operation. Despite substantial advances over the past decade, the problem remains difficult for systems with compl…
Multilevel Monte-Carlo for Solving POMDPs Online
Marcus Hoerger, Hanna Kurniawati, Alberto Elfes
Planning under partial obervability is essential for autonomous robots. A principled way to address such planning problems is the Partially Observable Markov Decision Process (POMD…
A Staged Approach to Evolving Real-world UAV Controllers
Gerard David Howard, Alberto Elfes
A testbed has recently been introduced that evolves controllers for arbitrary hover-capable UAVs, with evaluations occurring directly on the robot. To prepare the testbed for real-…
Elastic LiDAR Fusion: Dense Map-Centric Continuous-Time SLAM
Chanoh Park, Peyman Moghadam, Soohwan Kim +3
The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these adv…
Autonomous surveillance for biosecurity
Raja Jurdak, Alberto Elfes, Branislav Kusy +5
The global movement of people and goods has increased the risk of biosecurity threats and their potential to incur large economic, social, and environmental costs. Conventional man…