8 papers
Advances, challenges, and opportunities for legged robots
Jonas Frey, MatÃas Mattamala, Hae-Won Park +5
Humanoid and quadrupedal robots have the potential to revolutionize the way we work, interact, and coexist with intelligent machines. To understand their effects on society and how…
LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction
Christina Kassab, Hyeonjae Gil, MatÃas Mattamala +2
Scene graphs are becoming a standard representation for robot navigation, providing hierarchical geometric and semantic scene understanding. However, most scene graph mapping metho…
Building Forest Inventories with Autonomous Legged Robots -- System, Lessons, and Challenges Ahead
MatÃas Mattamala, Nived Chebrolu, Jonas Frey +5
Legged robots are increasingly being adopted in industries such as oil, gas, mining, nuclear, and agriculture. However, new challenges exist when moving into natural, less-structur…
A Finite-State Controller Based Offline Solver for Deterministic POMDPs
Alex Schutz, Yang You, Matias Mattamala +3
Deterministic partially observable Markov decision processes (DetPOMDPs) often arise in planning problems where the agent is uncertain about its environmental state but can act and…
Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System
Leonard FreiÃmuth, Matias Mattamala, Nived Chebrolu +3
Terrestrial laser scanning (TLS) is the standard technique used to create accurate point clouds for digital forest inventories. However, the measurement process is demanding, requi…
Exosense: A Vision-Based Scene Understanding System For Exoskeletons
Jianeng Wang, Matias Mattamala, Christina Kassab +5
Self-balancing exoskeletons are a key enabling technology for individuals with mobility impairments. While the current challenges focus on human-compliant hardware and control, unl…