Amanda Bouman — accepted AI-conference papers

2022

ACHORD: Communication-Aware Multi-Robot Coordination With Intermittent Connectivity

Maira Saboia, Lillian Clark, Vivek Thangavelu, Jeffrey A. Edlund, Kyohei Otsu, Gustavo J. Correa +13

RA-L 2022

Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., subterranean) environments requires a multi-robot system to to

Cited by 35 Source ↗Scholar ↗

2022

Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments

Amanda Bouman, Joshua Ott, Sung-Kyun Kim, Kenny Chen, Mykel J. Kochenderfer, Brett Lopez +2

IROS 2022poster

We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated area swept out by its sensor footprint is maximized. Becaus…

Cited by 15 Source ↗Scholar ↗

2022

FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget

Oriana Peltzer, Amanda Bouman, Sung-Kyun Kim, Ransalu Senanayake, Joshua Ott, Harrison Delecki +5

IROS 2022poster

We present a method for autonomous exploration of large-scale unknown environments under mission time con-straints. We start by proposing the Frontloaded Information Gain Orienteering Problem (FIG-OP) - a generalization of the traditional orienteering problem where the assumption of a reliable envir…

Cited by 22 Source ↗Scholar ↗

2021

From Multi-Target Sensory Coverage to Complete Sensory Coverage: An Optimization-Based Robotic Sensory Coverage Approach

Joel W. Burdick, Amanda Bouman, Elon Rimon

ICRA 2021poster

This paper considers progressively more demanding off-line shortest path sensory coverage problems in an optimization framework. In the first problem, a robot finds the shortest path to cover a set of target nodes with its sensors. Because this mixed integer nonlinear optimization problem (MINLP) is…

Cited by 3 Source ↗Scholar ↗

2020

Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion

Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur, Matteo Palieri, David D. Fan, Thomas Touma +5

IROS 2020poster

This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme environments, particularly those involved in the DARPA Subterranean Challenge, this paper pushes the boundaries of the state-of-practice…

Cited by 198 Source ↗Scholar ↗

2020

Design and Autonomous Stabilization of a Ballistically-Launched Multirotor

Amanda Bouman, Paul Nadan, Matthew Anderson, Daniel Pastor, Jacob Izraelevitz, Joel Burdick +1

ICRA 2020poster

Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically-launched, autono…

Cited by 31 Source ↗Scholar ↗

2019

Design of a Ballistically-Launched Foldable Multirotor

Daniel Pastor, Jacob Izraelevitz, Paul Nadan, Amanda Bouman, Joel Burdick, Brett Kennedy

IROS 2019poster

The operation of multirotors in crowded environments requires a highly reliable takeoff method, as failures during takeoff can damage more valuable assets nearby. The addition of a ballistic launch system imposes a deterministic path for the multirotor to prevent collisions with its environment, as…

Cited by 27 Source ↗Scholar ↗