21 citations · 83 across the 20 of their papers we have counts for
20 papers · 1 filter
Decentralised Active Perception in Continuous Action Spaces for the Coordinated Escort Problem
Rhett Hull, Ki Myung Brian Lee, Jennifer Wakulicz +6
We consider the coordinated escort problem, where a decentralised team of supporting robots implicitly assist the mission of higher-value principal robots. The defining challenge i…
Topological Trajectory Prediction with Homotopy Classes
Jennifer Wakulicz, Ki Myung Brian Lee, Teresa Vidal-Calleja +1
Trajectory prediction in a cluttered environment is key to many important robotics tasks such as autonomous navigation. However, there are an infinite number of possible trajectori…
Continuous Planning for Inertial-Aided Systems
Mitchell Usayiwevu, Fouad Sukkar, Chanyeol Yoo +2
Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localizati…
Multi-query Robotic Manipulator Task Sequencing with Gromov-Hausdorff Approximations
Fouad Sukkar, Jennifer Wakulicz, Ki Myung Brian Lee +2
Robotic manipulator applications often require efficient online motion planning. When completing multiple tasks, sequence order and choice of goal configuration can have a drastic…
Informative Planning for Worst-Case Error Minimisation in Sparse Gaussian Process Regression
Jennifer Wakulicz, Ki Myung Brian Lee, Chanyeol Yoo +2
We present a planning framework for minimising the deterministic worst-case error in sparse Gaussian process (GP) regression. We first derive a universal worst-case error bound for…
Field trial on Ocean Estimation for Multi-Vessel Multi-Float-based Active perception
Giovanni D'urso, James Ju Heon Lee, Ki Myung Brian Lee +5
Marine vehicles have been used for various scientific missions where information over features of interest is collected. In order to maximise efficiency in collecting information o…
Decentralised Intelligence, Surveillance, and Reconnaissance in Unknown Environments with Heterogeneous Multi-Robot Systems
Ki Myung Brian Lee, Felix H. Kong, Ricardo Cannizzaro +4
We present the design and implementation of a decentralised, heterogeneous multi-robot system for performing intelligence, surveillance and reconnaissance (ISR) in an unknown envir…
Signal Temporal Logic Synthesis as Probabilistic Inference
Ki Myung Brian Lee, Chanyeol Yoo, Robert Fitch
We reformulate the signal temporal logic (STL) synthesis problem as a maximum a-posteriori (MAP) inference problem. To this end, we introduce the notion of random STL~(RSTL), which…
An Upper Confidence Bound for Simultaneous Exploration and Exploitation in Heterogeneous Multi-Robot Systems
Ki Myung Brian Lee, Felix H. Kong, Ricardo Cannizzaro +4
Heterogeneous multi-robot systems are advantageous for operations in unknown environments because functionally specialised robots can gather environmental information, while others…
3D Ensemble-Based Online Oceanic Flow Field Estimation for Underwater Glider Path Planning
Felix H. Kong, K. Y. Cadmus To, Gary Brassington +2
Estimating ocean flow fields in 3D is a critical step in enabling the reliable operation of underwater gliders and other small, low-powered autonomous marine vehicles. Existing met…
Estimation of Spatially-Correlated Ocean Currents from Ensemble Forecasts and Online Measurements
K. Y. Cadmus To, Felix H. Kong, Ki Myung Brian Lee +3
We present a method to estimate two-dimensional, time-invariant oceanic flow fields based on data from both ensemble forecasts and online measurements. Our method produces a realis…
Distance and Steering Heuristics for Streamline-Based Flow Field Planning
K. Y. Cadmus To, Chanyeol Yoo, Stuart Anstee +1
Motion planning for vehicles under the influence of flow fields can benefit from the idea of streamline-based planning, which exploits ideas from fluid dynamics to achieve computat…
Minimally Invasive Social Navigation
Stefan H. Kiss, K. Y. Cadmus To, Chanyeol Yoo +2
Integrating mobile robots into human society involves the fundamental problem of navigation in crowds. This problem has been studied by considering the behaviour of humans at the l…
Streamline-Based Control of Underwater Gliders in 3D Environments
K. Y. Cadmus To, James Ju Heon Lee, Chanyeol Yoo +2
Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean cu…
Toward Optimal FDM Toolpath Planning with Monte Carlo Tree Search
Chanyeol Yoo, Samuel Lensgraf, Robert Fitch +2
The most widely used methods for toolpath planning in fused deposition 3D printing slice the input model into successive 2D layers in order to construct the toolpath. Unfortunately…
Efficient Optimal Planning in non-FIFO Time-Dependent Flow Fields
James Ju Heon Lee, Chanyeol Yoo, Stuart Anstee +1
We propose an algorithm for solving the time-dependent shortest path problem in flow fields where the FIFO (first-in-first-out) assumption is violated. This problem variant is impo…
Online Estimation of Ocean Current from Sparse GPS Data for Underwater Vehicles
Ki Myung Brian Lee, Chanyeol Yoo, Ben Hollings +3
Underwater robots are subject to position drift due to the effect of ocean currents and the lack of accurate localisation while submerged. We are interested in exploiting such posi…
Streamlines for Motion Planning in Underwater Currents
Kwun Yiu Cadmus To, Ki Myung Brian Lee, Chanyeol Yoo +2
Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in samplin…
Multi-Modal Active Perception for Information Gathering in Science Missions
Akash Arora, P. Michael Furlong, Robert Fitch +2
Robotic science missions in remote environments, such as deep ocean and outer space, can involve studying phenomena that cannot directly be observed using on-board sensors but must…
An Approach to Autonomous Science by Modeling Geological Knowledge in a Bayesian Framework
Akash Arora, Robert Fitch, Salah Sukkarieh
Autonomous Science is a field of study which aims to extend the autonomy of exploration robots from low level functionality, such as on-board perception and obstacle avoidance, to…