7 accepted papers
Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry remains a single point of failure, from which it can often be difficult, if not impossible, to recover. As such robust odo…
Autonomous robot navigation can be particularly demanding, especially when the surrounding environment is not known and safety of the robot is crucial. This work relates to the synthesis of Control Barrier Functions (CBFs) through data for safe navigation in unknown environments. A novel methodology…
This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve complex, large-scale and multi-branched topologies, while wi…
This paper presents a framework for Multi-Modal SLAM (MIMOSA) that utilizes a nonlinear factor graph as the underlying representation to provide loosely-coupled fusion of any number of sensing modalities. Tailored to the goal of enabling resilient robotic autonomy in GPS-denied and perceptually-degr…
This paper contributes a method designed to enable autonomous distributed 3D nuclear radiation field mapping. The algorithm uses a single radiation sensor and a sequence of spatially distributed and robotically acquired radiation measurements across a discretized 3D grid to derive a radiation gradie…
This paper presents a novel path planning strategy for fast and agile exploration using aerial robots. Tailored to the combined need for large-scale exploration of challenging and confined environments, despite the limited endurance of micro aerial vehicles, the proposed planner employs motion primi…
In this paper the problem of contact-based navigation path planning for aerial robots is considered with the goal of enabling the autonomous in-contact operation on surfaces that can be highly anomalous. Such a capacity can prove critical in inspection through contact missions, as well as when a fly…