69 citations · 462 across the 66 of their papers we have counts for
8 papers · 2 filters
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion
Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur +8
This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme environments, pa…
ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes
Kejun Li, Maegan Tucker, Erdem Bıyık +6
Characterizing what types of exoskeleton gaits are comfortable for users, and understanding the science of walking more generally, require recovering a user's utility landscape. Le…
Motivations and Preliminary Design for Mid-Air Deployment of a Science Rotorcraft on Mars
Jeff Delaune, Jacob Izraelevitz, Larry A. Young +18
Mid-Air Deployment (MAD) of a rotorcraft during Entry, Descent and Landing (EDL) on Mars eliminates the need to carry a propulsion or airbag landing system. This reduces the total…
A Unified NMPC Scheme for MAVs Navigation with 3D Collision Avoidance under Position Uncertainty
Sina Sharif Mansouri, Christoforos Kanellakis, Bjorn Lindqvist +4
This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced f…
Unsupervised Learning for Subterranean Junction Recognition Based on 2D Point Cloud
Sina Sharif Mansouri, Farhad Pourkamali-Anaraki, Miguel Castano Arranz +3
This article proposes a novel unsupervised learning framework for detecting the number of tunnel junctions in subterranean environments based on acquired 2D point clouds. The imple…
Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties
Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames +1
Robots operating in real world settings must navigate and maintain safety while interacting with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions (CBF…