Search and rescue under the forest canopy using multiple UAVs
We present a multi-robot system for GPS-denied search and rescue under the forest canopy. Forests are particularly challenging environments for collaborative exploration and mapping, in large part due to the existence of severe perceptual aliasing which ...
Distributed and consistent multi-image feature matching via QuickMatch
In this work, we consider the multi-image object matching problem in distributed networks of robots. Multi-image feature matching is a keystone of many applications, including Simultaneous Localization and Mapping, homography, object detection, and ...
Contact-space resolution model for a physically consistent view of simultaneous collisions in articulated-body systems: theory and experimental results
Multi-surface interactions occur frequently in articulated-rigid-body systems such as robotic manipulators. Real-time prediction of contact-interaction forces is challenging for systems with many degrees of freedom (DOFs) because joint and contact ...
Scaling simulation-to-real transfer by learning a latent space of robot skills
- Ryan C Julian,
- Eric Heiden,
- Zhanpeng He,
- Hejia Zhang,
- Stefan Schaal,
- Joseph J Lim,
- Gaurav S Sukhatme,
- Karol Hausman
We present a strategy for simulation-to-real transfer, which builds on recent advances in robot skill decomposition. Rather than focusing on minimizing the simulation–reality gap, we propose a method for increasing the sample efficiency and robustness of ...
Multimodal estimation and communication of latent semantic knowledge for robust execution of robot instructions
The goal of this article is to enable robots to perform robust task execution following human instructions in partially observable environments. A robot’s ability to interpret and execute commands is fundamentally tied to its semantic world knowledge. ...
Design and optimal control of a tiltrotor micro-aerial vehicle for efficient omnidirectional flight
- Mike Allenspach,
- Karen Bodie,
- Maximilian Brunner,
- Luca Rinsoz,
- Zachary Taylor,
- Mina Kamel,
- Roland Siegwart,
- Juan Nieto
Omnidirectional micro-aerial vehicles (MAVs) are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been ...
On infusing reachability-based safety assurance within planning frameworks for human–robot vehicle interactions
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road: a key challenge in doing so is accounting for ...
