19 citations · 34 across the 11 of their papers we have counts for
8 papers · 1 filter
Robust Incremental Smoothing and Mapping (riSAM)
Daniel McGann, John G. Rogers, Michael Kaess
This paper presents a method for robust optimization for online incremental Simultaneous Localization and Mapping (SLAM). Due to the NP-Hardness of data association in the presence…
How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversability
Mateo Guaman Castro, Samuel Triest, Wenshan Wang +4
Estimating terrain traversability in off-road environments requires reasoning about complex interaction dynamics between the robot and these terrains. However, it is challenging to…
NAUTS: Negotiation for Adaptation to Unstructured Terrain Surfaces
Sriram Siva, Maggie Wigness, John G. Rogers +2
When robots operate in real-world off-road environments with unstructured terrains, the ability to adapt their navigational policy is critical for effective and safe navigation. Ho…
Robot navigation from human demonstration: learning control behaviors with environment feature maps
Maggie Wigness, John G. Rogers, Luis E. Navarro-Serment
When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unma…
Self-Reflective Terrain-Aware Robot Adaptation for Consistent Off-Road Ground Navigation
Sriram Siva, Maggie Wigness, John G. Rogers +2
Ground robots require the crucial capability of traversing unstructured and unprepared terrains and avoiding obstacles to complete tasks in real-world robotics applications such as…
Risk Averse Bayesian Reward Learning for Autonomous Navigation from Human Demonstration
Christian Ellis, Maggie Wigness, John G. Rogers +2
Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown…
Robot Adaptation for Generating Consistent Navigational Behaviors over Unstructured Off-Road Terrain
Sriram Siva, Maggie Wigness, John G. Rogers +1
Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, th…
Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models
Siddharth Choudhary, Luca Carlone, Carlos Nieto +3
We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure fo…