242 citations · 491 across the 52 of their papers we have counts for
16 papers · 1 filter
MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception
Benjamin Ramtoula, Adam Caccavale, Giovanni Beltrame +1
Determining the relative position and orientation of objects in an environment is a fundamental building block for a wide range of robotics applications. To accomplish this task ef…
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
Existing game-theoretic planning methods assume that the robot knows the objective functions of the other agents a priori while, in practical scenarios, this is rarely the case. Th…
Reachable Polyhedral Marching (RPM): A Safety Verification Algorithm for Robotic Systems with Deep Neural Network Components
Joseph A. Vincent, Mac Schwager
We present a method for computing exact reachable sets for deep neural networks with rectified linear unit (ReLU) activation. Our method is well-suited for use in rigorous safety a…
RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch
Haruki Nishimura, Negar Mehr, Adrien Gaidon +1
Successful robotic operation in stochastic environments relies on accurate characterization of the underlying probability distributions, yet this is often imperfect due to limited…
GeoD: Consensus-based Geodesic Distributed Pose Graph Optimization
Eric Cristofalo, Eduardo Montijano, Mac Schwager
We present a consensus-based distributed pose graph optimization algorithm for obtaining an estimate of the 3D translation and rotation of each pose in a pose graph, given noisy re…
Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction
Haruki Nishimura, Boris Ivanovic, Adrien Gaidon +2
This paper presents a novel online framework for safe crowd-robot interaction based on risk-sensitive stochastic optimal control, wherein the risk is modeled by the entropic risk m…
Distributed Motion Control for Multiple Connected Surface Vessels
Wei Wang, Zijian Wang, Luis Mateos +4
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environ…
Directional Primitives for Uncertainty-Aware Motion Estimation in Urban Environments
Ransalu Senanayake, Maneekwan Toyungyernsub, Mingyu Wang +2
We can use driving data collected over a long period of time to extract rich information about how vehicles behave in different areas of the roads. In this paper, we introduce the…
Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning
Kyle Brown, Oriana Peltzer, Martin A. Sehr +2
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task and t…
Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies
Preston Culbertson, Jean-Jacques E. Slotine, Mac Schwager
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in . The robots do not know the mass or friction prop…
Distributed Multi-Target Tracking for Autonomous Vehicle Fleets
Ola Shorinwa, Javier Yu, Trevor Halsted +2
We present a scalable distributed target tracking algorithm based on the alternating direction method of multipliers that is well-suited for a fleet of autonomous cars communicatin…
STT-CBS: A Conflict-Based Search Algorithm for Multi-Agent Path Finding with Stochastic Travel Times
Oriana Peltzer, Kyle Brown, Mac Schwager +2
We present an algorithm for finding optimal paths for multiple stochastic agents in a graph to reach their destinations with a user-specified maximum pairwise collision probability…
Learning Mixed-Integer Convex Optimization Strategies for Robot Planning and Control
A. Cauligi, P. Culbertson, B. Stellato +3
Mixed-integer convex programming (MICP) has seen significant algorithmic and hardware improvements with several orders of magnitude solve time speedups compared to 25 years ago. De…
AirSim Drone Racing Lab
Ratnesh Madaan, Nicholas Gyde, Sai Vemprala +7
Autonomous drone racing is a challenging research problem at the intersection of computer vision, planning, state estimation, and control. We introduce AirSim Drone Racing Lab, a s…
CinemAirSim: A Camera-Realistic Robotics Simulator for Cinematographic Purposes
Pablo Pueyo, Eric Cristofalo, Eduardo Montijano +1
Drones and Unmanned Aerial Vehicles (UAV's) are becoming increasingly popular in the film and entertainment industries in part because of their maneuverability and the dynamic shot…
SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control
Haruki Nishimura, Mac Schwager
We propose a novel belief space planning technique for continuous dynamics by viewing the belief system as a hybrid dynamical system with time-driven switching. Our approach is bas…