3.5k citations · 6.3k across the 74 of their papers we have counts for
14 papers · 1 filter
Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems
Amanda Prorok, Matthew Malencia, Luca Carlone +3
Robustness is key to engineering, automation, and science as a whole. However, the property of robustness is often underpinned by costly requirements such as over-provisioning, kno…
Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization
Heng Yang, Luca Carlone
We propose the first general and scalable framework to design certifiable algorithms for robust geometric perception in the presence of outliers. Our first contribution is to show…
Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems
Vishrant Tripathi, Luca Ballotta, Luca Carlone +1
We investigate the problem of co-designing computation and communication in a multi-agent system (e.g. a sensor network or a multi-robot team). We consider the realistic setting wh…
Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization
Antoni Rosinol, Luca Carlone
Meshes are commonly used as 3D maps since they encode the topology of the scene while being lightweight. Unfortunately, 3D meshes are mathematically difficult to handle directly be…
Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks
Zachary Ravichandran, Lisa Peng, Nathan Hughes +2
Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic…
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems
Yulun Tian, Yun Chang, Fernando Herrera Arias +3
This paper presents Kimera-Multi, the first multi-robot system that (i) is robust and capable of identifying and rejecting incorrect inter and intra-robot loop closures resulting f…
An Inexact Projected Gradient Method with Rounding and Lifting by Nonlinear Programming for Solving Rank-One Semidefinite Relaxation of Polynomial Optimization
Heng Yang, Ling Liang, Luca Carlone +1
We consider solving high-order semidefinite programming (SDP) relaxations of nonconvex polynomial optimization problems (POPs) that often admit degenerate rank-one optimal solution…
Neural Trees for Learning on Graphs
Rajat Talak, Siyi Hu, Lisa Peng +1
Graph Neural Networks (GNNs) have emerged as a flexible and powerful approach for learning over graphs. Despite this success, existing GNNs are constrained by their local message-p…
Optimal Pose and Shape Estimation for Category-level 3D Object Perception
Jingnan Shi, Heng Yang, Luca Carlone
We consider a category-level perception problem, where one is given 3D sensor data picturing an object of a given category (e.g. a car), and has to reconstruct the pose and shape o…
Self-supervised Geometric Perception
Heng Yang, Wei Dong, Luca Carlone +1
We present self-supervised geometric perception (SGP), the first general framework to learn a feature descriptor for correspondence matching without any ground-truth geometric mode…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…
Dynamic Grasping with a "Soft" Drone: From Theory to Practice
Joshua Fishman, Samuel Ubellacker, Nathan Hughes +1
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This…
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments
Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai +4
State estimation for robots navigating in GPS-denied and perceptually-degraded environments, such as underground tunnels, mines and planetary subsurface voids, remains challenging…
Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs
Antoni Rosinol, Andrew Violette, Marcus Abate +5
Humans are able to form a complex mental model of the environment they move in. This mental model captures geometric and semantic aspects of the scene, describes the environment at…