10 citations · 17 across the 8 of their papers we have counts for
7 papers · 1 filter
Kalman Filter Auto-tuning through Enforcing Chi-Squared Normalized Error Distributions with Bayesian Optimization
Zhaozhong Chen, Harel Biggie, Nisar Ahmed +2
The nonlinear and stochastic relationship between noise covariance parameter values and state estimator performance makes optimal filter tuning a very challenging problem. Popular…
Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration
Michael T. Ohradzansky, Eugene R. Rush, Danny G. Riley +9
Artificial intelligence has undergone immense growth and maturation in recent years, though autonomous systems have traditionally struggled when fielded in diverse and previously u…
ColoRadar: The Direct 3D Millimeter Wave Radar Dataset
Andrew Kramer, Kyle Harlow, Christopher Williams +1
Millimeter wave radar is becoming increasingly popular as a sensing modality for robotic mapping and state estimation. However, there are very few publicly available datasets that…
Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps
Samuel Bateman, Kyle Harlow, Christoffer Heckman
Many modern simultaneous localization and mapping (SLAM) techniques rely on sparse landmark-based maps due to their real-time performance. However, these techniques frequently asse…
FastCal: Robust Online Self-Calibration for Robotic Systems
Fernando Nobre, Christoffer Heckman
We propose a solution for sensor extrinsic self-calibration with very low time complexity, competitive accuracy and graceful handling of often-avoided corner cases: drift in calibr…
Path-Following through Control Funnel Functions
Hadi Ravanbakhsh, Sina Aghli, Christoffer Heckman +1
We present an approach to path following using so-called control funnel functions. Synthesizing controllers to "robustly" follow a reference trajectory is a fundamental problem for…