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Kamak Ebadi

6 accepted papers

2022

LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments

Yun Chang, Kamak Ebadi, Christopher E. Denniston, Muhammad Fadhil Ginting, Antoni Rosinol, Andrzej Reinke +6
RA-L 2022

Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and perceptually-degraded subterranean environments, as the onboard per

Cited by 154Source ↗Scholar ↗
2022

LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping

Andrzej Reinke, Matteo Palieri, Benjamin Morrell, Yun Chang, Kamak Ebadi, Luca Carlone +1
RA-L 2022

Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in large-scale environments remains an open challenge due to the l

Cited by 86Source ↗Scholar ↗
2022

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM

Christopher E. Denniston, Yun Chang, Andrzej Reinke, Kamak Ebadi, Gaurav S. Sukhatme, Luca Carlone +2
RA-L 2022

Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment, checking and computing the transformation for all the loop closure candidates becomes computationally infeasible. In th

Cited by 31Source ↗code ↗Scholar ↗
2021

Corrections to "LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time"

Matteo Palieri, Benjamin Morrell, Abhishek Thakur, Kamak Ebadi, Jeremy Nash, Arghya Chatterjee +4
RA-L 2021

Authors Benjamin Morrell, Kamak Ebadi, Jeremy Nash and Aliakbar Agha-mohammadi in the above-named work [ibid., IEEE Robot. Automat. Lett., vol. 6, no. 2, pp. 421–428, Apr. 2020] were incorrectly affiliated with the Polytechnic University of Bari. The correct authors affiliations are reported in the

Cited by 2Source ↗Scholar ↗
2021

LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time

Matteo Palieri, Benjamin Morrell, Abhishek Thakur, Kamak Ebadi, Jeremy Nash, Arghya Chatterjee +4
RA-L 2021

A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time operation under challenging perceptual conditions. LOCUS (Lid

Cited by 134Source ↗Scholar ↗
2020

LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments

Kamak Ebadi, Yun Chang, Matteo Palieri, Alex Stephens, Alex Hatteland, Eric Heiden +6
ICRA 2020poster

Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry inaccurate, while long corridors without salient features make extero…

Cited by 210Source ↗Scholar ↗