30 citations · 63 across the 24 of their papers we have counts for
27 papers
Stereo Visual Odometry with Deep Learning-Based Point and Line Feature Matching using an Attention Graph Neural Network
Shenbagaraj Kannapiran, Nalin Bendapudi, Ming-Yuan Yu +4
Robust feature matching forms the backbone for most Visual Simultaneous Localization and Mapping (vSLAM), visual odometry, 3D reconstruction, and Structure from Motion (SfM) algori…
Density Stabilization Strategies for Nonholonomic Agents on Compact Manifolds
Karthik Elamvazhuthi, Spring Berman
In this article, we consider the problem of stabilizing stochastic processes, which are constrained to a bounded Euclidean domain or a compact smooth manifold, to a given target pr…
Single-Shot Domain Adaptation via Target-Aware Generative Augmentation
Rakshith Subramanyam, Kowshik Thopalli, Spring Berman +2
The problem of adapting models from a source domain using data from any target domain of interest has gained prominence, thanks to the brittle generalization in deep neural network…
CHARTOPOLIS: A Small-Scale Labor-art-ory for Research and Reflection on Autonomous Vehicles, Human-Robot Interaction, and Sociotechnical Imaginaries
Sangeet Sankaramangalam Ulhas, Aditya Ravichander, Kathryn A. Johnson +3
CHARTOPOLIS is a multi-faceted sociotechnical testbed meant to aid in building connections among engineers, psychologists, anthropologists, ethicists, and artists. Superficially, i…
Configuration Tracking Control of a Multi-Segment Soft Robotic Arm Using a Cosserat Rod Model
Azadeh Doroudchi, Zhi Qiao, Wenlong Zhang +1
Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the con…
NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments
Amir Salimi Lafmejani, Spring Berman, Georgios Fainekos
In this paper, we present a decentralized control approach based on a Nonlinear Model Predictive Control (NMPC) method that employs barrier certificates for safe navigation of mult…