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09/21/2023
Distributed Conjugate Gradient Method via Conjugate Direction Tracking
We present a distributed conjugate gradient method for distributed optim...
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09/19/2023
Guarantees on Robot System Performance Using Stochastic Simulation Rollouts
We provide finite-sample performance guarantees for control policies exe...
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09/14/2023
Connected Autonomous Vehicle Motion Planning with Video Predictions from Smart, Self-Supervised Infrastructure
Connected autonomous vehicles (CAVs) promise to enhance safety, efficien...
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05/16/2023
NerfBridge: Bringing Real-time, Online Neural Radiance Field Training to Robotics
This work was presented at the IEEE International Conference on Robotics...
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03/06/2023
Incorporating Human Path Preferences in Robot Navigation with Minimal Interventions
Robots that can effectively understand human intentions from actions are...
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02/24/2023
CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes
We formalize a novel interpretation of Neural Radiance Fields (NeRFs) as...
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01/26/2023
Distributed Optimization Methods for Multi-Robot Systems: Part II – A Survey
Although the field of distributed optimization is well-developed, releva...
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01/26/2023
Distributed Optimization Methods for Multi-Robot Systems: Part I – A Tutorial
Distributed optimization provides a framework for deriving distributed a...
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01/06/2023
Fast and Scalable Signal Inference for Active Robotic Source Seeking
In active source seeking, a robot takes repeated measurements in order t...
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12/13/2022
Single-Level Differentiable Contact Simulation
We present a differentiable formulation of rigid-body contact dynamics f...
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11/16/2022
Occlusion-Aware MPC for Guaranteed Safe Robot Navigation with Unseen Dynamic Obstacles
For safe navigation in dynamic uncertain environments, robotic systems r...
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10/15/2022
Reachable Polyhedral Marching (RPM): An Exact Analysis Tool for Deep-Learned Control Systems
We present a tool for computing exact forward and backward reachable set...
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09/24/2022
NeRF-Loc: Transformer-Based Object Localization Within Neural Radiance Fields
Neural Radiance Fields (NeRFs) have been successfully used for scene rep...
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07/21/2022
Learning Deep SDF Maps Online for Robot Navigation and Exploration
We propose an algorithm to (i) learn online a deep signed distance funct...
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05/01/2022
Game-Theoretic Planning for Autonomous Driving among Risk-Aware Human Drivers
We present a novel approach for risk-aware planning with human agents in...
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04/13/2022
Self-Supervised Traffic Advisors: Distributed, Multi-view Traffic Prediction for Smart Cities
Connected and Autonomous Vehicles (CAVs) are becoming more widely deploy...
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03/12/2022
FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget
We present a method for autonomous exploration of large-scale unknown en...
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03/02/2022
Dojo: A Differentiable Simulator for Robotics
We present a differentiable rigid-body-dynamics simulator for robotics t...
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10/03/2021
Maximum-Entropy Multi-Agent Dynamic Games: Forward and Inverse Solutions
In this paper, we study the problem of multiple stochastic agents intera...
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10/01/2021
Vision-Only Robot Navigation in a Neural Radiance World
Neural Radiance Fields (NeRFs) have recently emerged as a powerful parad...
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09/29/2021
Decentralized Role Assignment in Multi-Agent Teams via Empirical Game-Theoretic Analysis
We propose a method, based on empirical game theory, for a robot operati...
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09/28/2021
TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation
Dexterous manipulation tasks often require contact switching, where fing...
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09/17/2021
DiNNO: Distributed Neural Network Optimization for Multi-Robot Collaborative Learning
We present a distributed algorithm that enables a group of robots to col...
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08/14/2021
Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers
Truss robots, or robots that consist of extensible links connected at un...
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07/22/2021
Reciprocal Multi-Robot Collision Avoidance with Asymmetric State Uncertainty
We present a general decentralized formulation for a large class of coll...
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07/12/2021
Linear Contact-Implicit Model-Predictive Control
We present a general approach for controlling robotic systems that make ...
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04/17/2021
ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games
Dynamic games are an effective paradigm for dealing with the control of ...
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04/08/2021
CineMPC: Controlling Camera Intrinsics and Extrinsics for Autonomous Cinematography
We present CineMPC, an algorithm to autonomously control a UAV-borne vid...
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03/23/2021
A Survey of Distributed Optimization Methods for Multi-Robot Systems
Distributed optimization consists of multiple computation nodes working ...
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12/16/2020
MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception
Determining the relative position and orientation of objects in an envir...
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11/23/2020
Reachable Polyhedral Marching (RPM): A Safety Verification Algorithm for Robotic Systems with Deep Neural Network Components
We present a method for computing exact reachable sets for deep neural n...
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11/16/2020
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning
Existing game-theoretic planning methods assume that the robot knows the...
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10/16/2020
RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch
Successful robotic operation in stochastic environments relies on accura...
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10/01/2020
GeoD: Consensus-based Geodesic Distributed Pose Graph Optimization
We present a consensus-based distributed pose graph optimization algorit...
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09/12/2020
Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction
This paper presents a novel online framework for safe crowd-robot intera...
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07/21/2020
Distributed Motion Control for Multiple Connected Surface Vessels
We propose a scalable cooperative control approach which coordinates a g...
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07/01/2020
Directional Primitives for Uncertainty-Aware Motion Estimation in Urban Environments
We can use driving data collected over a long period of time to extract ...
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06/16/2020
Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning
We study the problem of sequential task assignment and collision-free ro...
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05/06/2020
Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies
In this work, we consider a group of robots working together to manipula...
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04/17/2020
STT-CBS: A Conflict-Based Search Algorithm for Multi-Agent Path Finding with Stochastic Travel Times
We address the Multi-Agent Path Finding problem on a graph for agents as...
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04/13/2020
Distributed Multi-Target Tracking for Autonomous Vehicle Fleets
We present a scalable distributed target tracking algorithm based on the...
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03/17/2020
CinemAirSim: A Camera-Realistic Robotics Simulator for Cinematographic Purposes
Drones and Unmanned Aerial Vehicles (UAV's) are becoming increasingly po...
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03/12/2020
AirSim Drone Racing Lab
Autonomous drone racing is a challenging research problem at the interse...
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02/26/2020
SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control
We propose a novel belief space planning technique for continuous dynami...
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10/22/2019
ALGAMES: A Fast Solver for Constrained Dynamic Games
Dynamic games are an effective paradigm for dealing with the control of ...
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05/30/2019
Fast Reciprocal Collision Avoidance Under Measurement Uncertainty
We present a fully distributed collision avoidance algorithm based on co...
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01/08/2018
A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing
To be successful in multi-player drone racing, a player must not only fo...
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01/08/2018
A Game Theoretic Approach to Autonomous Two-Player Drone Racing
To be successful in multi-player drone racing, a player must not only fo...
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09/09/2013
