202 citations · 269 across the 25 of their papers we have counts for
28 papers
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…
Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories
Arash Asgharivaskasi, Shumon Koga, Nikolay Atanasov
The problem of active mapping aims to plan an informative sequence of sensing views given a limited budget such as distance traveled. This paper consider active occupancy grid mapp…
Physics-guided Learning-based Adaptive Control on the SE(3) Manifold
Thai Duong, Nikolay Atanasov
In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use o…
Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem i…
Distributed Gaussian Process Mapping for Robot Teams with Time-varying Communication
James Di, Ehsan Zobeidi, Alec Koppel +1
Multi-agent mapping is a fundamentally important capability for autonomous robot task coordination and execution in complex environments. While successful algorithms have been prop…
Dense Incremental Metric-Semantic Mapping for Multi-Agent Systems via Sparse Gaussian Process Regression
Ehsan Zobeidi, Alec Koppel, Nikolay Atanasov
We develop an online probabilistic metric-semantic mapping approach for mobile robot teams relying on streaming RGB-D observations. The generated maps contain full continuous distr…