202 citations · 563 across the 65 of their papers we have counts for
36 papers · 1 filter
Safe Planning in Unknown Environments Using Conformalized Semantic Maps
David Smith Sundarsingh, Yifei Li, Tianji Tang +3
This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or obje…
Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories
Pengzhi Yang, Shumon Koga, Arash Asgharivaskasi +1
This paper proposes a novel model-based policy gradient algorithm for tracking dynamic targets using a mobile robot, equipped with an onboard sensor with limited field of view. The…
Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems
Valentin Duruisseaux, Thai Duong, Melvin Leok +1
Incorporating prior knowledge of physics laws and structural properties of dynamical systems into the design of deep learning architectures has proven to be a powerful technique fo…
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…
Learning Continuous Control Policies for Information-Theoretic Active Perception
Pengzhi Yang, Yuhan Liu, Shumon Koga +2
This paper proposes a method for learning continuous control policies for active landmark localization and exploration using an information-theoretic cost. We consider a mobile rob…
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi +3
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information…
Robust and Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Zhichao Li, Thai Duong, Nikolay Atanasov
Stability and safety are critical properties for successful deployment of automatic control systems. As a motivating example, consider autonomous mobile robot navigation in a compl…
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers
Julio A. Placed, Jared Strader, Henry Carrillo +4
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surroundin…
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…
Safe Control Synthesis with Uncertain Dynamics and Constraints
Kehan Long, Vikas Dhiman, Melvin Leok +2
This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We form…
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…
Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Zhichao Li, Thai Duong, Nikolay Atanasov
Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from traj…
Semantic OcTree Mapping and Shannon Mutual Information Computation for Robot Exploration
Arash Asgharivaskasi, Nikolay Atanasov
Autonomous robot operation in unstructured and unknown environments requires efficient techniques for mapping and exploration using streaming range and visual observations. Informa…
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…
Adaptive Control of SE(3) Hamiltonian Dynamics with Learned Disturbance Features
Thai Duong, Nikolay Atanasov
Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. Adaptive control designs benefit from a disturbance model, which is…
Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control
Thai Duong, Nikolay Atanasov
Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently…
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…
Active Exploration and Mapping via Iterative Covariance Regulation over Continuous Trajectories
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
This paper develops \emph{iterative Covariance Regulation} (iCR), a novel method for active exploration and mapping for a mobile robot equipped with on-board sensors. The problem i…
Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observation
Arash Asgharivaskasi, Nikolay Atanasov
Many robot applications call for autonomous exploration and mapping of unknown and unstructured environments. Information-based exploration techniques, such as Cauchy-Schwarz quadr…
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi +3
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between inf…
Learning Barrier Functions with Memory for Robust Safe Navigation
Kehan Long, Cheng Qian, Jorge Cortés +1
Control barrier functions are widely used to enforce safety properties in robot motion planning and control. However, the problem of constructing barrier functions online and synth…
Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping
Thai Duong, Michael Yip, Nikolay Atanasov
This paper focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octre…
OrcVIO: Object residual constrained Visual-Inertial Odometry
Mo Shan, Vikas Dhiman, Qiaojun Feng +2
Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks spec…