129 citations · 889 across the 54 of their papers we have counts for
6 papers · 1 filter
Majorization Minimization Methods for Distributed Pose Graph Optimization
Taosha Fan, Todd Murphey
We consider the problem of distributed pose graph optimization (PGO) that has important applications in multi-robot simultaneous localization and mapping (SLAM). We propose the maj…
Active Learning in Robotics: A Review of Control Principles
Annalisa T. Taylor, Thomas A. Berrueta, Todd D. Murphey
Active learning is a decision-making process. In both abstract and physical settings, active learning demands both analysis and action. This is a review of active learning in robot…
Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation
Muchen Sun, Francesca Baldini, Peter Trautman +1
Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behav…
Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation
Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang +3
We propose a novel sparse constrained formulation and from it derive a real-time optimization method for 3D human pose and shape estimation. Our optimization method, SCOPE (Sparse…
Ergodic imitation: Learning from what to do and what not to do
Aleksandra Kalinowska, Ahalya Prabhakar, Kathleen Fitzsimons +1
With growing access to versatile robotics, it is beneficial for end users to be able to teach robots tasks without needing to code a control policy. One possibility is to teach the…
Low rattling: A predictive principle for self-organization in active collectives
Pavel Chvykov, Thomas A. Berrueta, Akash Vardhan +6
Self-organization is frequently observed in active collectives, from ant rafts to molecular motor assemblies. General principles describing self-organization away from equilibrium…