64 citations · 101 across the 31 of their papers we have counts for
36 papers · 1 filter
Mission-Aware Value of Information Censoring for Distributed Filtering
Miguel Calvo-Fullana, Jonathan P. How
In this paper, we study the problem of distributed estimation with an emphasis on communication-efficiency. The proposed algorithm is based on a windowed maximum a posteriori (MAP)…
Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay
Kota Kondo, Jesus Tordesillas, Reinaldo Figueroa +4
Although communication delays can disrupt multiagent systems, most of the existing multiagent trajectory planners lack a strategy to address this issue. State-of-the-art approaches…
Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning
Andrea Tagliabue, Jonathan P. How
Imitation learning (IL) can generate computationally efficient sensorimotor policies from demonstrations provided by computationally expensive model-based sensing and control algor…
View-Invariant Localization using Semantic Objects in Changing Environments
Jacqueline Ankenbauer, Kaveh Fathian, Jonathan P. How
This paper proposes a novel framework for real-time localization and egomotion tracking of a vehicle in a reference map. The core idea is to map the semantic objects observed by th…
Global Data Association for SLAM with 3D Grassmannian Manifold Objects
Parker C. Lusk, Jonathan P. How
Using pole and plane objects in lidar SLAM can increase accuracy and decrease map storage requirements compared to commonly-used point cloud maps. However, place recognition and ge…
Distributed Filtering with Value of Information Censoring
Miguel Calvo-Fullana, Jonathan P. How
This work presents a distributed estimation algorithm that efficiently uses the available communication resources. The approach is based on Bayesian filtering that is distributed a…