20 citations · 44 across the 9 of their papers we have counts for
10 papers
Best Viewpoints for External Robots or Sensors Assisting Other Robots
Jan Dufek, Xuesu Xiao, Robin R. Murphy
This work creates a model of the value of different external viewpoints of a robot performing tasks. The current state of the practice is to use a teleoperated assistant robot to p…
Tethered Aerial Visual Assistance
Xuesu Xiao, Jan Dufek, Robin R. Murphy
In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is developed into a visual assistant in a marsupial co-robots team, collaborating with a tele-operated Unmanned…
Robot Risk-Awareness by Formal Risk Reasoning and Planning
Xuesu Xiao, Jan Dufek, Robin Murphy
This paper proposes a formal robot motion risk reasoning framework and develops a risk-aware path planner that minimizes the proposed risk. While robots locomoting in unstructured…
Robot Motion Risk Reasoning Framework
Xuesu Xiao, Jan Dufek, Robin R. Murphy
This paper presents a formal and comprehensive reasoning framework for robot motion risk, with a focus on locomotion in challenging unstructured or confined environments. Risk whic…
Explicit Motion Risk Representation
Xuesu Xiao, Jan Dufek, Robin Murphy
This paper presents a formal definition and explicit representation of robot motion risk. Currently, robot motion risk has not been formally defined, but has already been used in m…
Benchmarking Tether-based UAV Motion Primitives
Xuesu Xiao, Jan Dufek, Robin Murphy
This paper proposes and benchmarks two tether-based motion primitives for tethered UAVs to execute autonomous flight with proprioception only. Tethered UAVs have been studied mainl…
Autonomous Visual Assistance for Robot Operations Using a Tethered UAV
Xuesu Xiao, Jan Dufek, Robin R. Murphy
This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is d…
Explicit-risk-aware Path Planning with Reward Maximization
Xuesu Xiao, Jan Dufek, Robin Murphy
This paper develops a path planner that minimizes risk (e.g. motion execution) while maximizing accumulated reward (e.g., quality of sensor viewpoint) motivated by visual assistanc…
Motion Planning for a UAV with a Straight or Kinked Tether
Xuesu Xiao, Jan Dufek, Mohamed Suhail +1
This paper develops and compares two motion planning algorithms for a tethered UAV with and without the possibility of the tether contacting the confined and cluttered environment.…
Visual Servoing of Unmanned Surface Vehicle from Small Tethered Unmanned Aerial Vehicle
Haresh Karnan, Aritra Biswas, Pranav Vaidik Dhulipala +2
This paper presents an algorithm and the implementation of a motor schema to aid the visual localization subsystem of the ongoing EMILY project at Texas A and M University. The EMI…