8 accepted papers
When a robot autonomously performs a complex task, it frequently must balance competing objectives while maintaining safety. This becomes more difficult in uncertain environments with stochastic outcomes. Enhancing transparency in the robot’s behavior and aligning with user preferences are also cruc…
Current methods of deploying robots that operate in dynamic, uncertain environments, such as Uncrewed Aerial Systems in search & rescue missions, require nearly continuous human supervision for vehicle guidance and operation. These methods do not consider high-level mission context resulting in cumb…
In autonomous robotic decision-making under uncertainty, the tradeoff between exploitation and exploration of available options must be considered. If secondary information associated with options can be utilized, such decision-making problems can often be formulated as contextual multi-armed bandit…
We consider the problem of motion and communication planning under uncertainty with limited information from a remote sensor network. Because the remote sensors are power and bandwidth limited, we use event-triggered (ET) estimation to manage communication costs. We introduce a fast and efficient sa…
Human-robot teams are expected to accomplish complex tasks in high-risk and uncertain environments. In domains such as space exploration or search & rescue, a human operator may not be a robotics expert, but will need to establish a baseline understanding of the robot's capabilities with respect to…
This paper presents a method for target localization and tracking in clutter using Bayesian fusion of vision and Radio Frequency (RF) sensors used aboard a small Unmanned Aircraft System (sUAS). Sensor fusion is used to ensure tracking robustness and reliability in case of camera occlusion or RF sig…
When registering 3-D point clouds it is expected that some points in one cloud do not have corresponding points in the other cloud. These non-correspondences are likely to occur near one another, as surface regions visible from one sensor pose are obscured or out of frame for another. In this work,…
This paper examines the problem of distributed path planning for a mobile sensor network comprised of communication-aware robots performing general information gathering missions. Mutual information is derived for distributed sensing over packet erasure channels that model multi-hop communication. W…