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09/15/2023
UIVNAV: Underwater Information-driven Vision-based Navigation via Imitation Learning
Autonomous navigation in the underwater environment is challenging due t...
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09/14/2023
Efficiently Identifying Hotspots in a Spatially Varying Field with Multiple Robots
In this paper, we present algorithms to identify environmental hotspots ...
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08/04/2023
Decision-Theoretic Approaches for Robotic Environmental Monitoring – A Survey
Robotics has dramatically increased our ability to gather data about our...
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07/10/2023
Where to Drop Sensors from Aerial Robots to Monitor a Surface-Level Phenomenon?
We consider the problem of routing a team of energy-constrained Unmanned...
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07/08/2023
MAP-NBV: Multi-agent Prediction-guided Next-Best-View Planning for Active 3D Object Reconstruction
We propose MAP-NBV, a prediction-guided active algorithm for 3D reconstr...
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05/09/2023
ProxMaP: Proximal Occupancy Map Prediction for Efficient Indoor Robot Navigation
In a typical path planning pipeline for a ground robot, we build a map (...
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04/22/2023
Pred-NBV: Prediction-guided Next-Best-View for 3D Object Reconstruction
Prediction-based active perception has shown the potential to improve th...
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03/14/2023
RE-MOVE: An Adaptive Policy Design Approach for Dynamic Environments via Language-Based Feedback
Reinforcement learning-based policies for continuous control robotic nav...
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03/04/2023
Data-Driven Distributionally Robust Optimal Control with State-Dependent Noise
This paper introduces innovative data-driven techniques for estimating t...
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03/02/2023
Decision-Oriented Learning with Differentiable Submodular Maximization for Vehicle Routing Problem
We study the problem of learning a function that maps context observatio...
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11/30/2022
Dynamically Finding Optimal Observer States to Minimize Localization Error with Complex State-Dependent Noise
We present DyFOS, an active perception method that Dynamically Finds Opt...
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11/09/2022
Interpretable Deep Reinforcement Learning for Green Security Games with Real-Time Information
Green Security Games with real-time information (GSG-I) add the real-tim...
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10/14/2022
Approximation Algorithms for Robot Tours in Random Fields with Guaranteed Estimation Accuracy
We study the sample placement and shortest tour problem for robots taske...
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09/19/2022
D2CoPlan: A Differentiable Decentralized Planner for Multi-Robot Coverage
Centralized approaches for multi-robot coverage planning problems suffer...
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09/13/2022
Risk-aware Resource Allocation for Multiple UAVs-UGVs Recharging Rendezvous
We study a resource allocation problem for the cooperative aerial-ground...
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06/12/2022
Dealing with Sparse Rewards in Continuous Control Robotics via Heavy-Tailed Policies
In this paper, we present a novel Heavy-Tailed Stochastic Policy Gradien...
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06/02/2022
Posterior Coreset Construction with Kernelized Stein Discrepancy for Model-Based Reinforcement Learning
In this work, we propose a novel Kernelized Stein Discrepancy-based Post...
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04/10/2022
Risk-aware UAV-UGV Rendezvous with Chance-Constrained Markov Decision Process
We study a chance-constrained variant of the cooperative aerial-ground v...
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03/08/2022
Occupancy Map Prediction for Improved Indoor Robot Navigation
In the typical path planning pipeline for a ground robot, we build a map...
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01/28/2022
On the Hidden Biases of Policy Mirror Ascent in Continuous Action Spaces
We focus on parameterized policy search for reinforcement learning over ...
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12/16/2021
Intermittent Deployment for Large-Scale Multi-Robot Forage Perception: Data Synthesis, Prediction, and Planning
Monitoring the health and vigor of grasslands is vital for informing man...
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09/14/2021
GALOPP: Multi-Agent Deep Reinforcement Learning For Persistent Monitoring With Localization Constraints
Persistently monitoring a region under localization and communication co...
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05/15/2021
Distributed Resilient Submodular Action Selection in Adversarial Environments
In this letter, we consider a distributed submodular maximization proble...
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05/02/2021
Multi-Robot Coordination and Planning in Uncertain and Adversarial Environments
Deploying a team of robots that can carefully coordinate their actions c...
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04/23/2021
Risk-Aware Path Planning for Ground Vehicles using Occluded Aerial Images
We consider scenarios where a ground vehicle plans its path using data g...
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01/13/2021
Multi-robot Symmetric Rendezvous Search on the Line
We study the Symmetric Rendezvous Search Problem for a multi-robot syste...
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12/09/2020
GATSBI: An Online GTSP-Based Algorithm for Targeted Surface Bridge Inspection
We study the problem of visually inspecting the surface of a bridge usin...
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11/03/2020
Communication-Aware Multi-robot Coordination with Submodular Maximization
Submodular maximization has been widely used in many multi-robot task pl...
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11/02/2020
Multi-Agent Reinforcement Learning for Persistent Monitoring
The Persistent Monitoring (PM) problem seeks to find a set of trajectori...
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11/02/2020
Risk-Aware Submodular Optimization for Multi-objective Travelling Salesperson Problem
We introduce a risk-aware multi-objective Traveling Salesperson Problem ...
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11/02/2020
Fast Biconnectivity Restoration in Multi-Robot Systems for Robust Communication Maintenance
Maintaining a robust communication network plays an important role in th...
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07/07/2020
Coverage of an Environment Using Energy-Constrained Unmanned Aerial Vehicles
We study the problem of covering an environment using an Unmanned Aerial...
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07/04/2020
Improved Resilient Coverage Maximization with Multiple Robots
The task of maximizing coverage using multiple robots has several applic...
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06/30/2020
Robust Multi-Agent Task Assignment in Failure-Prone and Adversarial Environments
The problem of assigning agents to tasks is a central computational chal...
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04/15/2020
Combining Geometric and Information-Theoretic Approaches for Multi-Robot Exploration
We present an algorithm to explore an orthogonal polygon using a team of...
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03/31/2020
Robust Multiple-Path Orienteering Problem: Securing Against Adversarial Attacks
The multiple-path orienteering problem asks for paths for a team of robo...
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03/25/2020
Risk-Aware Planning and Assignment for Ground Vehicles using Uncertain Perception from Aerial Vehicles
We propose a risk-aware framework for multi-robot, multi-demand assignme...
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03/23/2020
Risk-Aware Submodular Optimization for Multi-Robot Coordination
We study the problem of incorporating risk while making combinatorial de...
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03/13/2020
Evaluation of Cross-View Matching to Improve Ground Vehicle Localization with Aerial Perception
Cross-view matching refers to the problem of finding the closest match t...
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03/01/2020
Experimental Evaluation of a Pseudo-Doppler Direction-Finding System for Localizing Radio Tags
We present the design of a radio antenna system for obtaining instantane...
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02/12/2020
Recreating Bat Behavior on Quad-rotor UAVs-A Simulation Approach
We develop an effective computer model to simulate sensing environments ...
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10/30/2019
Crop Height and Plot Estimation from Unmanned Aerial Vehicles using 3D LiDAR
In this paper, we present techniques to measure crop heights using a 3D ...
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10/07/2019
Multi-Robot Coordinated Planning in Confined Environments under Kinematic Constraints
We investigate the problem of multi-robot coordinated planning in enviro...
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10/03/2019
View Planning and Navigation Algorithms for Autonomous Bridge Inspection with UAVs
We study the problem of infrastructure inspection using an Unmanned Aeri...
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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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09/18/2019
Environmental Hotspot Identification in Limited Time with a UAV Equipped with a Downward-Facing Camera
We are motivated by environmental monitoring tasks where finding the glo...
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09/04/2019
Learning a Spatial Field in Minimum Time with a Team of Robots
We study an informative path planning problem where the goal is to minim...
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03/18/2019
Visual Monitoring for Multiple Points of Interest on a 2.5D Terrain using a UAV with Limited Field-of-View Constraint
Varying terrain conditions and limited field-of-view restricts the visib...
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12/23/2018
GM-PHD Filter for Searching and Tracking an Unknown Number of Targets with a Mobile Sensor with Limited FOV
We study the problem of searching for and tracking a collection of movin...
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12/22/2018