242 citations · 491 across the 52 of their papers we have counts for
9 papers · 1 filter
Local Non-Cooperative Games with Principled Player Selection for Scalable Motion Planning
Makram Chahine, Roya Firoozi, Wei Xiao +2
Game-theoretic motion planners are a powerful tool for the control of interactive multi-agent robot systems. Indeed, contrary to predict-then-plan paradigms, game-theoretic planner…
NerfBridge: Bringing Real-time, Online Neural Radiance Field Training to Robotics
Javier Yu, Jun En Low, Keiko Nagami +1
This work was presented at the IEEE International Conference on Robotics and Automation 2023 Workshop on Unconventional Spatial Representations. Neural radiance fields (NeRFs) are…
Incorporating Human Path Preferences in Robot Navigation with Minimal Interventions
Oriana Peltzer, Dylan M. Asmar, Mac Schwager +1
Robots that can effectively understand human intentions from actions are crucial for successful human-robot collaboration. In this work, we address the challenge of a robot navigat…
CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes
Timothy Chen, Preston Culbertson, Mac Schwager
We introduce a transformation of a Neural Radiance Field (NeRF) to an equivalent Poisson Point Process (PPP). This PPP transformation allows for rigorous quantification of uncertai…
GrAVITree: Graph-based Approximate Value Function In a Tree
Patrick H. Washington, David Fridovich-Keil, Mac Schwager
In this paper, we introduce GrAVITree, a tree- and sampling-based algorithm to compute a near-optimal value function and corresponding feedback policy for indefinite time-horizon,…
Single-Level Differentiable Contact Simulation
Simon Le Cleac'h, Mac Schwager, Zachary Manchester +3
We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Existing optimization-based approach…
Distributed Optimization Methods for Multi-Robot Systems: Part II -- A Survey
Ola Shorinwa, Trevor Halsted, Javier Yu +1
Although the field of distributed optimization is well-developed, relevant literature focused on the application of distributed optimization to multi-robot problems is limited. Thi…
Distributed Optimization Methods for Multi-Robot Systems: Part I -- A Tutorial
Ola Shorinwa, Trevor Halsted, Javier Yu +1
Distributed optimization provides a framework for deriving distributed algorithms for a variety of multi-robot problems. This tutorial constitutes the first part of a two-part seri…
Fast and Scalable Signal Inference for Active Robotic Source Seeking
Christopher E. Denniston, Oriana Peltzer, Joshua Ott +6
In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking…