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10/15/2022
MIXER: Multiattribute, Multiway Fusion of Uncertain Pairwise Affinities
We present a multiway fusion algorithm capable of directly processing un...
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09/28/2022
View-Invariant Localization using Semantic Objects in Changing Environments
This paper proposes a novel framework for real-time localization and ego...
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11/29/2021
MIXER: A Principled Framework for Multimodal, Multiway Data Association
A fundamental problem in robotic perception is matching identical object...
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03/27/2021
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations
We present a solution to multi-robot distributed semantic mapping of nov...
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11/20/2020
CLIPPER: A Graph-Theoretic Framework for Robust Data Association
We present CLIPPER (Consistent LInking, Pruning, and Pairwise Error Rect...
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03/04/2020
A Distributed Pipeline for Scalable, Deconflicted Formation Flying
Reliance on external localization infrastructure and centralized coordin...
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02/06/2019
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-Agent Data Association
A fundamental challenge in many robotics applications is to correctly sy...
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09/01/2018
Vision-Based Distributed Formation Control of Unmanned Aerial Vehicles
We present a novel control strategy for a team of unmanned aerial vehicl...
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09/01/2018
Robust 3D Distributed Formation Control with Application to Quadrotors
We present a distributed control strategy for a team of quadrotors to au...
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07/29/2018
Robust Distributed Planar Formation Control for Higher-Order Holonomic and Nonholonomic Agents
We present a distributed formation control strategy for agents with a va...
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04/09/2017