ElasticFusion: Dense SLAM Without A Pose Graph
Thomas Whelan, Stefan Leutenegger, Renato Salas Moreno, Ben Glocker, Andrew Davison
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Hilbert maps: scalable continuous occupancy mapping with stochastic gradient descent
Fabio Ramos, Lionel Ott
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Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping
Benjamin Charrow, Gregory Kahn, Sachin Patil, Sikang Liu, Ken Goldberg, Pieter Abbeel, Nathan Michael, Vijay Kumar
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Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation
Beipeng Mu, Ali-akbar Agha-mohammadi, Liam Paull, Matthew Graham, Jonathan How, John Leonard
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Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest
Sanjiban Choudhury, Sebastian Scherer, Andrew Bagnell
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IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation
Christian Forster, Luca Carlone, Frank Dellaert, Davide Scaramuzza
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Policy Search for Multi-Robot Coordination under Uncertainty
Christopher Amato, George Konidaris, Ariel Anders, Gabriel Cruz, Jonathan How, Leslie Kaelbling
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A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices
Kejian Wu, Ahmed Ahmed, Georgios Georgiou, Stergios Roumeliotis
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Decoupled Representation of the Error and Trajectory Estimates for Ef_cient Pose Estimation
Xing Zheng, Mingyang Li, Anastasios Mourikis
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Long-horizon Robotic Search and Classification using Sampling-based Motion Planning
Geoffrey Hollinger
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Motion Planning for Unlabeled Discs with Optimality Guarantees
Kiril Solovey, Jingjin Yu, Or Zamir, Dan Halperin
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DeepMPC: Learning Deep Latent Features for Model Predictive Control
Ian Lenz, Ross Knepper, Ashutosh Saxena
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Direct Loss Minimization Inverse Optimal Control
Andreas Doerr, Nathan Ratliff, Jeannette Bohg, Marc Toussaint, Stefan Schaal
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Robust Trajectory Optimization Under Frictional Contact with Iterative Learning
Jingru Luo, Kris Hauser
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Efficient High-Dimensional Stochastic Optimal Motion Control using Tensor-Train Decomposition
Alex Gorodetsky, Sertac Karaman, Youssef Marzouk
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A New Perspective and Extension of the Gaussian Filter
Manuel Wuthrich, Sebastian Trimpe, Daniel Kappler, Stefan Schaal
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Guidance and Navigation for UAV Airborne Docking
Daniel Wilson, Ali Goktogan, Salah Sukkarieh
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Grounding English Commands to Reward Functions
James MacGlashan, Monica Babes-Vroman, Marie desJardins, Michael Littman, Smaranda Muresan, Shawn Squire, Stefanie Tellex, Dilip Arumugam, Lei Yang
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Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact
Tapomayukh Bhattacharjee, Joshua Wade, Charles Kemp
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Guaranteeing Spoof-Resilient Multi-Robot Networks
Stephanie Gil, Swarun Kumar, Mark Mazumder, Dina Katabi, Daniela Rus
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Tracking Attracting Lagrangian Coherent Structures in Flows
Dhanushka Kularatne, Ani Hsieh
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Place Recognition with ConvNet Landmarks: Viewpoint-Robust, Condition-Robust, Training-Free
Niko Suenderhauf, Sareh Shirazi, Adam Jacobson, Feras Dayoub, Edward Pepperell, Ben Upcroft, Michael Milford
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Exploiting the Separable Structure of SLAM
Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
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rCRF: Recursive Belief Estimation over CRFs in RGB-D Activity Videos
Ozan Sener, Ashutosh Saxena
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Layered Interpretation of Street View Images
Ming-Yu Liu, Shuoxin Lin, Srikumar Ramalingam, Oncel Tuzel
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Quantitative Measures of a Robot's Ability to Balance
Roy Featherstone
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Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics
Andrea Del Prete, Nicolas Mansard
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Leveraging Cone Double Description for Multi-contact Stability of Humanoids with Applications to Statics and Dynamics
Stephane Caron, Quang Cuong Pham, Yoshihiko Nakamura
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Robust Trajectory Optimization: A Cooperative Stochastic Game Theoretic Approach
Yunpeng Pan, Evangelos Theodorou, Kaivalya Bakshi
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The dynamics of legged locomotion in heterogeneous terrain: universality in scattering and sensitivity to initial conditions
Feifei Qian, Daniel Goldman
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Adaptive Coordination Strategies for Human-Robot Handovers
Chien-Ming Huang, Maya Cakmak, Bilge Mutlu
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Shared Autonomy via Hindsight Optimization
Shervin Javdani, Siddhartha Srinivasa, Andrew Bagnell
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Three's company, or a crowd?: The effects of robot number and behavior on HRI in Japan and the USA
Marlena Fraune, Satoru Kawakami, Selma Sabanovic, Ravindra de Silva, Michio Okada
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Monocular SLAM Supported Object Recognition
Sudeep Pillai, John Leonard
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Voting for Voting in Online Point Cloud Object Detection
Dominic Zeng Wang, Ingmar Posner
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Continuous-Time Trajectory Estimation for Event-based Vision Sensors
Elias Mueggler, Guillermo Gallego, Davide Scaramuzza
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Get Out of My Lab: Large-scale, Real-Time Visual-Inertial Localization
Simon Lynen, Torsten Sattler, Michael Bosse, Joel Hesch, Marc Pollefeys, Roland Siegwart
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A Spatiotemporal Optimal Stopping Problem for Mission Monitoring with Stationary Viewpoints
Graeme Best, Wolfram Martens, Robert Fitch
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Autonomy Infused Teleoperation with Application to BCI Manipulation
Katharina Mulling, Arun Venkatraman, Jean-Sebastien Valois, John Downey, Jeffrey Weiss, Shervin Javdani, Martial Hebert, Andrew Schwartz, Jennifer Collinger, Andrew Bagnell
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Chisel: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device using Spatially Hashed Signed Distance Fields
Matthew Klingensmith, Ivan Dryanovski, Siddhartha Srinivasa, Jizhong Xiao
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Probabilistic Semi-Dense Mapping from Highly Accurate Feature-Based Monocular SLAM
Raul Mur-Artal, Juan Tardos
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Online Localization of Radio-Tagged Wildlife with an Autonomous Aerial Robot System
Oliver Cliff, Robert Fitch, Salah Sukkarieh, Debbie Saunders, Robert Heinsohn
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Multipolicy Decision-Making for Autonomous Driving via Changepoint-based Behavior Prediction
Enric Galceran, Alexander Cunningham, Ryan Eustice, Edwin Olson
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Data-Driven Online Decision Making for Autonomous Manipulation
Daniel Kappler, Peter Pastor, Mrinal Kalakrishnan, Manuel Wuthrich, Stefan Schaal
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Dealing with Difficult Instances of Object Rearrangement
Athanasios Krontiris, Kostas Bekris
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On the hardness of unlabeled multi-robot motion planning
Kiril Solovey, Dan Halperin
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Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds
Hae-Won Park, Patrick Wensing, Sangbae Kim
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Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs
Quan Nguyen, Koushil Sreenath
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Data-Driven Topological Motion Planning with Persistent Cohomology
Florian T. Pokorny, Danica Kragic
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