425 citations · 1.8k across the 99 of their papers we have counts for
15 papers · 1 filter
Autonomously Unweaving Multiple Cables Using Visual Feedback
Tina Tian, Xinyu Wang, Andrew L. Orekhov +4
Many cable management tasks involve separating out the different cables and removing tangles. Automating this task is challenging because cables are deformable and can have combina…
Think Fast: Real-Time Kinodynamic Belief-Space Planning for Projectile Interception
Gabriel Olin, Lu Chen, Nayesha Gandotra +2
Intercepting fast moving objects, by its very nature, is challenging because of its tight time constraints. This problem becomes further complicated in the presence of sensor noise…
Adversarial Game-Theoretic Algorithm for Dexterous Grasp Synthesis
Yu Chen, Botao He, Yuemin Mao +7
For many complex tasks, multi-finger robot hands are poised to revolutionize how we interact with the world, but reliably grasping objects remains a significant challenge. We focus…
Bag-of-Word-Groups (BoWG): A Robust and Efficient Loop Closure Detection Method Under Perceptual Aliasing
Xiang Fei, Tina Tian, Howie Choset +1
Loop closure is critical in Simultaneous Localization and Mapping (SLAM) systems to reduce accumulative drift and ensure global mapping consistency. However, conventional methods s…
The Omega Turn: A General Turning Template for Elongate Robots
Baxi Chong, Tianyu Wang, Kelimar Diaz +12
Elongate limbless robots have the potential to locomote through tightly packed spaces for applications such as search-and-rescue and industrial inspections. The capability to effec…
Multi-CAP: A Multi-Robot Connectivity-Aware Hierarchical Coverage Path Planning Algorithm for Unknown Environments
Zongyuan Shen, Burhanuddin Shirose, Prasanna Sriganesh +3
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reduc…
NavMoE: Hybrid Model- and Learning-based Traversability Estimation for Local Navigation via Mixture of Experts
Botao He, Amir Hossein Shahidzadeh, Yu Chen +8
This paper explores traversability estimation for robot navigation. A key bottleneck in traversability estimation lies in efficiently achieving reliable and robust predictions whil…
Parallel, Asymptotically Optimal Algorithms for Moving Target Traveling Salesman Problems
Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy +3
The Moving Target Traveling Salesman Problem (MT-TSP) seeks a trajectory that intercepts several moving targets, within a particular time window for each target. When generic nonli…
A-MHA*: Anytime Multi-Heuristic A*
Ramkumar Natarajan, Muhammad Suhail Saleem, William Xiao +3
Designing good heuristic functions for graph search requires adequate domain knowledge. It is often easy to design heuristics that perform well and correlate with the underlying tr…
Optimizing Start Locations in Ergodic Search for Disaster Response
Ananya Rao, Alyssa Hargis, David Wettergreen +1
In disaster response scenarios, deploying robotic teams effectively is crucial for improving situational awareness and enhancing search and rescue operations. The use of robots in…
Automatic Cannulation of Femoral Vessels in a Porcine Shock Model
Nico Zevallos, Cecilia G. Morales, Andrew Orekhov +7
Rapid and reliable vascular access is critical in trauma and critical care. Central vascular catheterization enables high-volume resuscitation, hemodynamic monitoring, and advanced…
A Complete and Bounded-Suboptimal Algorithm for a Moving Target Traveling Salesman Problem with Obstacles in 3D
Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy +3
The moving target traveling salesman problem with obstacles (MT-TSP-O) seeks an obstacle-free trajectory for an agent that intercepts a given set of moving targets, each within spe…
Ergodic Exploration over Meshable Surfaces
Dayi Dong, Albert Xu, Geordan Gutow +2
Robotic search and rescue, exploration, and inspection require trajectory planning across a variety of domains. A popular approach to trajectory planning for these types of mission…
Multi-Agent Ergodic Exploration under Smoke-Based, Time-Varying Sensor Visibility Constraints
Elena Wittemyer, Ananya Rao, Ian Abraham +1
In this work, we consider the problem of multi-agent informative path planning (IPP) for robots whose sensor visibility continuously changes as a consequence of a time-varying natu…
A Mixed-Integer Conic Program for the Multi-Agent Moving-Target Traveling Salesman Problem
Allen George Philip, Zhongqiang Ren, Sivakumar Rathinam +1
The Moving-Target Traveling Salesman Problem (MT-TSP) seeks a shortest path for an agent that starts at a stationary depot, visits a set of moving targets exactly once, each within…