20 citations · 59 across the 18 of their papers we have counts for
4 papers · 1 filter
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds
Kenny Chen, Brett T. Lopez, Ali-akbar Agha-mohammadi +1
Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this…
Adaptive Variants of Optimal Feedback Policies
Brett T. Lopez, Jean-Jacques E. Slotine
The stable combination of optimal feedback policies with online learning is studied in a new control-theoretic framework for uncertain nonlinear systems. The framework can be syste…
Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors
Seyed Fakoorian, Angel Santamaria-Navarro, Brett T. Lopez +2
This work proposes a resilient and adaptive state estimation framework for robots operating in perceptually-degraded environments. The approach, called Adaptive Maximum Correntropy…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…