101 citations · 276 across the 27 of their papers we have counts for
18 papers · 1 filter
Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints
Aaron Ray, Alyssa Pierson, Hai Zhu +2
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning p…
Free-Space Ellipsoid Graphs for Multi-Agent Target Monitoring
Aaron Ray, Alyssa Pierson, Daniela Rus
We apply a novel framework for decomposing and reasoning about free space in an environment to a multi-agent persistent monitoring problem. Our decomposition method represents free…
Deep Interactive Motion Prediction and Planning: Playing Games with Motion Prediction Models
Jose L. Vazquez, Alexander Liniger, Wilko Schwarting +2
In most classical Autonomous Vehicle (AV) stacks, the prediction and planning layers are separated, limiting the planner to react to predictions that are not informed by the planne…
Multi-Objective Graph Heuristic Search for Terrestrial Robot Design
Jie Xu, Andrew Spielberg, Allan Zhao +2
We present methods for co-designing rigid robots over control and morphology (including discrete topology) over multiple objectives. Previous work has addressed problems in single-…
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
Tixiao Shan, Brendan Englot, Carlo Ratti +1
We propose a framework for tightly-coupled lidar-visual-inertial odometry via smoothing and mapping, LVI-SAM, that achieves real-time state estimation and map-building with high ac…
Efficient and Robust LiDAR-Based End-to-End Navigation
Zhijian Liu, Alexander Amini, Sibo Zhu +3
Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate i…