8 citations · 33 across the 22 of their papers we have counts for
12 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…