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07/17/2023
RAYEN: Imposition of Hard Convex Constraints on Neural Networks
This paper presents RAYEN, a framework to impose hard convex constraints...
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03/10/2023
Robust MADER: Decentralized Multiagent Trajectory Planner Robust to Communication Delay in Dynamic Environments
Communication delays can be catastrophic for multiagent systems. However...
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09/27/2022
Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay
Although communication delays can disrupt multiagent systems, most of th...
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09/02/2022
Deep-PANTHER: Learning-Based Perception-Aware Trajectory Planner in Dynamic Environments
This paper presents Deep-PANTHER, a learning-based perception-aware traj...
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03/21/2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
This paper presents and discusses algorithms, hardware, and software arc...
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03/10/2021
PANTHER: Perception-Aware Trajectory Planner in Dynamic Environments
This paper presents PANTHER, a real-time perception-aware (PA) trajector...
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02/05/2021
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments
State estimation for robots navigating in GPS-denied and perceptually-de...
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01/26/2021
Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions
We propose a framework for resilient autonomous navigation in perceptual...
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10/21/2020
MADER: Trajectory Planner in Multi-Agent and Dynamic Environments
This paper presents MADER, a 3D decentralized and asynchronous trajector...
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10/21/2020
MINVO Basis: Finding Simplexes with Minimum Volume Enclosing Polynomial Curves
This paper studies the problem of finding the smallest n-simplex enclosi...
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01/09/2020
FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments
Planning high-speed trajectories for UAVs in unknown environments requir...
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04/02/2019
Personalized Cancer Chemotherapy Schedule: a numerical comparison of performance and robustness in model-based and model-free scheduling methodologies
Reinforcement learning algorithms are gaining popularity in fields where...
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03/08/2019
FaSTraP: Fast and Safe Trajectory Planner for Flights in Unknown Environments
Planning high-speed trajectories for UAVs in unknown environments requir...
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10/02/2018