1 to 10 of 11 Results
May 30, 2021
Almalioglu, Yasin; Santamaria-Navarro, Angel; Morrell, Benjamin; Agha-mohammadi, Ali-akbar, 2021, "Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments", https://hdl.handle.net/2014/55107, 2021 IEEE International Conference on Robotics and Automation, Xi'an, China, May 30 - June 5, 2021, JPL Open Repository
In recent years, unsupervised deep learning ap-proaches have received a significant attention to estimate depthand visual odometry (VO) from unlabelled monocular imagesequences. However, their performance is limited in challengingenvironments due to perceptual degradation, occlus... |
Mar 22, 2021
Thakker, Rohan; Alatur, Nikhilesh; Fan, David D.; Tordesillas, Jesus; Paton, Michael; Otsu, Kyohei; Toupet, Olivier; Agha-mohammadi, Ali-akbar, 2021, "Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions", https://hdl.handle.net/2014/53308, International Symposium on Experimental Robotics (ISER 2020), Malta, March 22-25, 2021, JPL Open Repository
We propose a framework for resilient autonomous navigation in perceptuallychallenging unknown environments with mobility-stressing elements such asuneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffsand holes, and narrow passages. Environments are... |
Oct 19, 2020
Stegun Vaquero, Tiago; Saboia da Silva, Maira; Otsu, Kyohei; Kaufmann, Marcel; Edlund, Jeffrey A.; Agha-mohammadi, Ali-akbar, 2020, "Traversability-aware Signal Coverage Planning for Communication Node Deployment in Planetary Cave Exploration", https://hdl.handle.net/2014/53290, VIRTUAL The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) 2020, Pasadena, California, October 19-23, 2020, JPL Open Repository
In this paper we describe an automated planning system that selects the optimal target location to drop a communication node in an unknown cave environment to maximize communication coverage while minimizing the risk of violating safety constraints for all robots traversing the a... |
Oct 4, 2020
Navarro, Angel Santamaria; Fakoorian, Seyed; Palieri, Matteo; Santamaria-Navarro, Angel; Guaragnella, Cataldo; Simon, Dan; Agha-mohammadi, Ali-akbar, 2020, "Maximum Correntropy Kalman Filter for Orientation Estimation with Application to LiDAR Inertial Odometry", https://hdl.handle.net/2014/53056, Dynamic Systems and Control Conference, Pittsburgh, Pennsylvania, October 4-7, 2020, JPL Open Repository
Robot navigation is a prerequisite to enable many autonomous robotic operations. Propioceptive inertial measurement units (IMUs) are widely used and commonly accepted sensing devices in robotic navigation. An IMU typically consists of two-triaxis sensors: an accelerometer and a g... |
Jul 12, 2020
Terry, Edward; Lei, Xianmei; Morrell, Benjamin; Daftry, Shreyansh; Agha-mohammadi, Ali-akbar, 2020, "Object and Gas Source Detection with Robotic Platforms in Perceptually-Degraded Environments", https://hdl.handle.net/2014/53059, Robotics: Science and Systems (RSS) 2020, Corvallis, Oregon, July 12-16, 2020, JPL Open Repository
In exploration-oriented robotic missions for disaster relief in unknown subterranean environments, it is of prime importance for a human supervisor to rapidly gain situational awareness of salient objects within the environment. In this paper we present an automated object detect... |
May 31, 2020
Terry, Edward; Lei, Xianmei; Morrell, Benjamin; Daftry, Shreyansh; Agha-mohammadi, Ali-akbar, 2020, "Aritifact detection and localization in perceptually-degraded subterranean environments", https://hdl.handle.net/2014/51870, ICRA 2020 - IEEE International Conference on Robotics and Automation, Paris, France, May 31 - June 4, 2020, JPL Open Repository
No abstract provided |
May 31, 2020
Kramer, Andrew; Stahoviak, Carl; Santamaria-Navarro, Angel; Agha-mohammadi, Ali-akbar; Heckman, Christoffer, 2020, "RaDAR-inertial ego velocity estimation with applications to subterranean environments", https://hdl.handle.net/2014/51875, ICRA 2020 - IEEE International Conference on Robotics and Automation, Paris, France, May 31 - June 4, 2020, JPL Open Repository
No abstract provided |
Mar 7, 2020
Otsu, Kyohei; Tepsuporn, Scott; Thakker, Rohan; Vaquero, Tiago Stegun; Edlund, Jeffrey A.; Walsh, William; Miles, Gregory; Heywood, Tristan; Wolf, Michael T.; Agha-mohammadi, Ali-akbar, 2020, "Supervised Autonomy for Communication-Degraded Subterranean Exploration by a Robot Team", https://hdl.handle.net/2014/52277, 2020 IEEE Aerospace Conference, Big Sky, Montana, March 7-14, 2020, JPL Open Repository
The importance of autonomy in robotics is magnified when the robots need to be deployed and operated in areas that are too dangerous or not accessible for humans, ranging from disaster areas (to assist in emergency situations) to Mars exploration (to uncover the mystery of our ne... |
Oct 30, 2019
Fan, David D.; Thakkar, Rohan; Bartlett, Tara; Miled, Meriem Ben; Kim, Leon; Theodore, Evangelos; Agha-mohammadi, Ali-akbar, 2019, "Autonomous hybrid ground/aerial mobility in unknown environments", https://hdl.handle.net/2014/51542, Conference on Robot Learning CoRL, Osaka, Japan, October 30 - November 1, 2019, JPL Open Repository
No abstract provided |
Oct 6, 2019
Thakker, Rohan; Santamaria-Navarro, Angel; Fan, David D.; Morrell, Benjamin; Agha-mohammadi, Ali-akbar, 2019, "Towards Resilient Autonomous Navigation of Drones", https://hdl.handle.net/2014/51167, International Symposium on Robotics Research (ISRR), Puerto Varas, Chile, October 6-10, 2019, JPL Open Repository
Robots and particularly drones are especially useful in exploring extreme environments that pose hazards to humans. To ensure safe operations in these situations, usually perceptually degraded and without good GNSS, it is critical to have a reliable and robust state estimation so... |
