RSS 2015

49 papers

Data-Driven Topological Motion Planning with Persistent Cohomology

Florian T. Pokorny, Danica Kragic

Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs

Quan Nguyen, Koushil Sreenath

Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds

Hae-Won Park, Patrick Wensing, Sangbae Kim

On the hardness of unlabeled multi-robot motion planning

Kiril Solovey, Dan Halperin

Dealing with Difficult Instances of Object Rearrangement

Athanasios Krontiris, Kostas Bekris

Data-Driven Online Decision Making for Autonomous Manipulation

Daniel Kappler, Peter Pastor, Mrinal Kalakrishnan, Manuel Wuthrich, Stefan Schaal

Multipolicy Decision-Making for Autonomous Driving via Changepoint-based Behavior Prediction

Enric Galceran, Alexander Cunningham, Ryan Eustice, Edwin Olson

Online Localization of Radio-Tagged Wildlife with an Autonomous Aerial Robot System

Oliver Cliff, Robert Fitch, Salah Sukkarieh, Debbie Saunders, Robert Heinsohn

Probabilistic Semi-Dense Mapping from Highly Accurate Feature-Based Monocular SLAM

Raul Mur-Artal, Juan Tardos

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

Autonomy Infused Teleoperation with Application to BCI Manipulation

Katharina Mulling, Arun Venkatraman, Jean-Sebastien Valois, John Downey, Jeffrey Weiss

A Spatiotemporal Optimal Stopping Problem for Mission Monitoring with Stationary Viewpoints

Graeme Best, Wolfram Martens, Robert Fitch

Get Out of My Lab: Large-scale, Real-Time Visual-Inertial Localization

Simon Lynen, Torsten Sattler, Michael Bosse, Joel Hesch, Marc Pollefeys

Continuous-Time Trajectory Estimation for Event-based Vision Sensors

Elias Mueggler, Guillermo Gallego, Davide Scaramuzza

Voting for Voting in Online Point Cloud Object Detection

Dominic Zeng Wang, Ingmar Posner

Monocular SLAM Supported Object Recognition

Sudeep Pillai, John Leonard

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

Shared Autonomy via Hindsight Optimization

Shervin Javdani, Siddhartha Srinivasa, Andrew Bagnell

Adaptive Coordination Strategies for Human-Robot Handovers

Chien-Ming Huang, Maya Cakmak, Bilge Mutlu

The dynamics of legged locomotion in heterogeneous terrain: universality in scattering and sensitivity to initial conditions

Feifei Qian, Daniel Goldman

Robust Trajectory Optimization: A Cooperative Stochastic Game Theoretic Approach

Yunpeng Pan, Evangelos Theodorou, Kaivalya Bakshi

Leveraging Cone Double Description for Multi-contact Stability of Humanoids with Applications to Statics and Dynamics

Stéphane Caron, Quang Cuong Pham, Yoshihiko Nakamura

Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics

Andrea Del Prete, Nicolas Mansard

Quantitative Measures of a Robot's Ability to Balance

Roy Featherstone

Layered Interpretation of Street View Images

Ming-Yu Liu, Shuoxin Lin, Srikumar Ramalingam, Oncel Tuzel

rCRF: Recursive Belief Estimation over CRFs in RGB-D Activity Videos

Ozan Sener, Ashutosh Saxena

Exploiting the Separable Structure of SLAM

Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake

Place Recognition with ConvNet Landmarks: Viewpoint-Robust, Condition-Robust, Training-Free

Niko Suenderhauf, Sareh Shirazi, Adam Jacobson, Feras Dayoub, Edward Pepperell

Tracking Attracting Lagrangian Coherent Structures in Flows

Dhanushka Kularatne, Ani Hsieh

Guaranteeing Spoof-Resilient Multi-Robot Networks

Stephanie Gil, Swarun Kumar, Mark Mazumder, Dina Katabi, Daniela Rus

Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact

Tapomayukh Bhattacharjee, Joshua Wade, Charles Kemp

Grounding English Commands to Reward Functions

James MacGlashan, Monica Babes-Vroman, Marie desJardins, Michael Littman, Smaranda Muresan

Guidance and Navigation for UAV Airborne Docking

Daniel Wilson, Ali Goktogan, Salah Sukkarieh

A New Perspective and Extension of the Gaussian Filter

Manuel Wuthrich, Sebastian Trimpe, Daniel Kappler, Stefan Schaal

Efficient High-Dimensional Stochastic Optimal Motion Control using Tensor-Train Decomposition

Alex Gorodetsky, Sertac Karaman, Youssef Marzouk

Robust Trajectory Optimization Under Frictional Contact with Iterative Learning

Jingru Luo, Kris Hauser

Direct Loss Minimization Inverse Optimal Control

Andreas Doerr, Nathan Ratliff, Jeannette Bohg, Marc Toussaint, Stefan Schaal

DeepMPC: Learning Deep Latent Features for Model Predictive Control

Ian Lenz, Ross Knepper, Ashutosh Saxena

Motion Planning for Unlabeled Discs with Optimality Guarantees

Kiril Solovey, Jingjin Yu, Or Zamir, Dan Halperin

Long-horizon Robotic Search and Classification using Sampling-based Motion Planning

Geoffrey Hollinger

Decoupled Representation of the Error and Trajectory Estimates for Ef_cient Pose Estimation

Xing Zheng, Mingyang Li, Anastasios Mourikis

A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices

Kejian Wu, Ahmed Ahmed, Georgios Georgiou, Stergios Roumeliotis

Policy Search for Multi-Robot Coordination under Uncertainty

Christopher Amato, George Konidaris, Ariel Anders, Gabriel Cruz, Jonathan How

IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation

Christian Forster, Luca Carlone, Frank Dellaert, Davide Scaramuzza

Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest

Sanjiban Choudhury, Sebastian Scherer, Andrew Bagnell

Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation

Beipeng Mu, Ali-akbar Agha-mohammadi, Liam Paull, Matthew Graham, Jonathan How

Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping

Benjamin Charrow, Gregory Kahn, Sachin Patil, Sikang Liu, Ken Goldberg

Hilbert maps: scalable continuous occupancy mapping with stochastic gradient descent

Fabio Ramos, Lionel Ott

ElasticFusion: Dense SLAM Without A Pose Graph

Thomas Whelan, Stefan Leutenegger, Renato Salas Moreno, Ben Glocker, Andrew Davison