61 citations · 243 across the 64 of their papers we have counts for
5 papers · 2 filters
AstroSLAM: Autonomous Monocular Navigation in the Vicinity of a Celestial Small Body -- Theory and Experiments
Mehregan Dor, Travis Driver, Kenneth Getzandanner +1
We propose AstroSLAM, a standalone vision-based solution for autonomous online navigation around an unknown target small celestial body. AstroSLAM is predicated on the formulation…
Lazy Incremental Search for Efficient Replanning with Bounded Suboptimality Guarantees
Jaein Lim, Mahdi Ghanei, R. Connor Lawson +2
We present a lazy incremental search algorithm, Lifelong-GLS (L-GLS), along with its bounded suboptimal version, Bounded L-GLS (B-LGLS) that combine the search efficiency of increm…
Risk-Aware Model Predictive Path Integral Control Using Conditional Value-at-Risk
Ji Yin, Zhiyuan Zhang, Panagiotis Tsiotras
In this paper, we present a novel Model Predictive Control method for autonomous robots subject to arbitrary forms of uncertainty. The proposed Risk-Aware Model Predictive Path Int…
Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning
Daniel T. Larsson, Arash Asgharivaskasi, Jaein Lim +2
In this paper, we develop an approach that enables autonomous robots to build and compress semantic environment representations from point-cloud data. Our approach builds a three-d…
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…