8 accepted papers
Robots deployed in the real world over extendedperiods of time need to reason about unexpected failures, learn to predict them, and to proactively take actions to avoid future failures. Existing approaches for competence-aware planning are either model-based, requiring explicit enumeration of known
Accurate control of robots at high speeds requires a control system that can take into account the kinodynamic interactions of the robot with the environment. Prior works on learning inverse kinodynamic (IKD) models of robots have shown success in capturing the complex kinodynamic effects. However,…
One of the key challenges in high-speed off-road navigation on ground vehicles is that the kinodynamics of the vehicle-terrain interaction can differ dramatically depending on the terrain. Previous approaches to addressing this challenge have considered learning an inverse kinodynamics (IKD) model,…
Autonomous mobile robots deployed in outdoor environments must reason about different types of terrain for both safety (e.g., prefer dirt over mud) and deployer preferences (e.g., prefer dirt path over flower beds). Most existing solutions to this preference-aware path planning problem use semantic…
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem degrade in performance in challenging real-world situations su…
Existing solutions to visual simultaneous localization and mapping (V-SLAM) assume that errors in feature extraction and matching are independent and identically distributed (i.i.d), but this assumption is known to not be true – features extracted from low-contrast regions of images exhibit wider er
Skid-steer drive systems are widely used in mobile robot platforms. Such systems are subject to significant slippage and skidding during normal operation due to their nature. The ability to predict and compensate for such slippages in the forward kinematics of these types of robots is of great impor…
Vision, as an inexpensive yet information rich sensor, is commonly used for perception on autonomous mobile robots. Unfortunately, accurate vision-based perception requires a number of assumptions about the environment to hold - some examples of such assumptions, depending on the perception algorith…