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05/22/2023
Bandit Submodular Maximization for Multi-Robot Coordination in Unpredictable and Partially Observable Environments
We study the problem of multi-agent coordination in unpredictable and pa...
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01/02/2023
Efficient Online Learning with Memory via Frank-Wolfe Optimization: Algorithms with Bounded Dynamic Regret and Applications to Control
Projection operations are a typical computation bottleneck in online lea...
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09/26/2022
Online Submodular Coordination with Bounded Tracking Regret: Theory, Algorithm, and Applications to Multi-Robot Coordination
We enable efficient and effective coordination in unpredictable environm...
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06/01/2022
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT
This paper reports on the development, execution, and open-sourcing of a...
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04/15/2022
Resource-Aware Distributed Submodular Maximization: A Paradigm for Multi-Robot Decision-Making
We introduce the first algorithm for distributed decision-making that pr...
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03/03/2021
Resilient Active Information Acquisition with Teams of Robots
Emerging applications of collaborative autonomy, such as Multi-Target Tr...
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07/29/2020
Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications
Nonlinear estimation in robotics and vision is typically plagued with ou...
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10/02/2019
Distributed Attack-Robust Submodular Maximization for Multi-Robot Planning
We aim to guard swarm-robotics applications against denial-of-service (D...
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09/25/2019
Robust and Adaptive Sequential Submodular Optimization
Emerging applications of control, estimation, and machine learning, rang...
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09/18/2019
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection
Semidefinite Programming (SDP) and Sums-of-Squares (SOS) relaxations hav...
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03/27/2019
Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees
Spatial perception is the backbone of many robotics applications, and sp...
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09/11/2018
Resilient Active Target Tracking with Multiple Robots
The problem of target tracking with multiple robots consists of actively...
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04/02/2018
Resilient Non-Submodular Maximization over Matroid Constraints
Applications in control, robotics, and optimization motivate the design ...
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03/26/2018
Resilient Active Information Gathering with Mobile Robots
Applications in robotics, such as multi-robot target tracking, involve t...
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03/21/2018
Resilient Monotone Sequential Maximization
Applications in machine learning, optimization, and control require the ...
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02/23/2018
LQG Control and Sensing Co-design
Linear-Quadratic-Gaussian (LQG) control is concerned with the design of ...
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02/23/2018
Control and Sensing Co-design
Linear-Quadratic-Gaussian (LQG) control is concerned with the design of ...
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03/21/2017