28 citations · 61 across the 10 of their papers we have counts for
6 papers · 1 filter
Augmented Lagrangian Methods as Layered Control Architectures
Anusha Srikanthan, Vijay Kumar, Nikolai Matni
For optimal control problems that involve planning and following a trajectory, two degree of freedom (2DOF) controllers are a ubiquitously used control architecture that decomposes…
TreeScope: An Agricultural Robotics Dataset for LiDAR-Based Mapping of Trees in Forests and Orchards
Derek Cheng, Fernando Cladera Ojeda, Ankit Prabhu +6
Data collection for forestry, timber, and agriculture currently relies on manual techniques which are labor-intensive and time-consuming. We seek to demonstrate that robotics offer…
A Data-Driven Approach to Synthesizing Dynamics-Aware Trajectories for Underactuated Robotic Systems
Anusha Srikanthan, Fengjun Yang, Igor Spasojevic +3
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer use…
RotorPy: A Python-based Multirotor Simulator with Aerodynamics for Education and Research
Spencer Folk, James Paulos, Vijay Kumar
Simulators play a critical role in aerial robotics both in and out of the classroom. We present RotorPy, a simulation environment written entirely in Python intentionally designed…
Active Collaborative Localization in Heterogeneous Robot Teams
Igor Spasojevic, Xu Liu, Alejandro Ribeiro +2
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) co…
Graph Neural Networks for Decentralized Multi-Agent Perimeter Defense
Elijah S. Lee, Lifeng Zhou, Alejandro Ribeiro +1
In this work, we study the problem of decentralized multi-agent perimeter defense that asks for computing actions for defenders with local perceptions and communications to maximiz…