64 citations · 121 across the 38 of their papers we have counts for
9 papers · 1 filter
Demonstration-Efficient Guided Policy Search via Imitation of Robust Tube MPC
Andrea Tagliabue, Dong-Ki Kim, Michael Everett +1
We propose a demonstration-efficient strategy to compress a computationally expensive Model Predictive Controller (MPC) into a more computationally efficient representation based o…
ROMAX: Certifiably Robust Deep Multiagent Reinforcement Learning via Convex Relaxation
Chuangchuang Sun, Dong-Ki Kim, Jonathan P. How
In a multirobot system, a number of cyber-physical attacks (e.g., communication hijack, observation perturbations) can challenge the robustness of agents. This robustness issue wor…
Airflow-Inertial Odometry for Resilient State Estimation on Multirotors
Andrea Tagliabue, Jonathan P. How
We present a dead reckoning strategy for increased resilience to position estimation failures on multirotors, using only data from a low-cost IMU and novel, bio-inspired airflow se…
NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows
Qiangqiang Huang, Can Pu, Dehann Fourie +3
This paper presents a novel non-Gaussian inference algorithm, Normalizing Flow iSAM (NF-iSAM), for solving SLAM problems with non-Gaussian factors and/or non-linear measurement mod…
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations
Stewart Jamieson, Kaveh Fathian, Kasra Khosoussi +2
We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learn…
Where to go next: Learning a Subgoal Recommendation Policy for Navigation Among Pedestrians
Bruno Brito, Michael Everett, Jonathan P. How +1
Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the envir…