33 citations · 100 across the 18 of their papers we have counts for
19 papers · 1 filter
A1 SLAM: Quadruped SLAM using the A1's Onboard Sensors
Jerred Chen, Frank Dellaert
Quadrupeds are robots that have been of interest in the past few years due to their versatility in navigating across various terrain and utility in several applications. For quadru…
FAST-LIO, Then Bayesian ICP, Then GTSFM
Jerred Chen, Xiangcheng Hu, Shicong Ma +3
For the Hilti Challenge 2022, we created two systems, one building upon the other. The first system is FL2BIPS which utilizes the iEKF algorithm FAST-LIO2 and Bayesian ICP PoseSLAM…
A Hybrid Cable-Driven Robot for Non-Destructive Leafy Plant Monitoring and Mass Estimation using Structure from Motion
Gerry Chen, Harsh Muriki, Cédric Pradalier +2
We propose a novel hybrid cable-based robot with manipulator and camera for high-accuracy, medium-throughput plant monitoring in a vertical hydroponic farm and, as an example appli…
Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems
Matthew King-Smith, Panagiotis Tsiotras, Frank Dellaert
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving o…
Learning Inertial Odometry for Dynamic Legged Robot State Estimation
Russell Buchanan, Marco Camurri, Frank Dellaert +1
This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has…
Imitation Learning via Simultaneous Optimization of Policies and Auxiliary Trajectories
Mandy Xie, Anqi Li, Karl Van Wyk +3
Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distribution…