MSR Thesis Talk: Henry Zhang
Title: On Visual-Aided LiDAR-Inertial Odometry System in Challenging Subterranean Environments Abstract: Simultaneous Localization and Mapping (SLAM) is one of the fundamental components for autonomous robotic exploration. The goal of SLAM is to create an accurate map for the environment and provide robust state estimation for planning, control, and perception tasks. However, due to the [...]
Efficient Robot Decision-Making for Achieving Multiple Independent Tasks
Abstract: We focus on robotics applications where a robot is required to accomplish a set of tasks that are partially observable and evolve independently of each other according to their dynamics. One such domain that we target in this work is decision-making for a robot waiter waiting tables at a restaurant. The robot waiter should [...]
MSR Thesis Talk: Ryan Darnley
Title: Communication Network Flow Control With LQR and Factor Graphs Abstract: Advances in the estimation and more recently the controls communities have leveraged the use of factor graphs to overcome problems of scalability and runtime in dynamical systems. In continuation of that work, we look to use factor graphs to perform LQR control on [...]
MSR Thesis Talk: Shirsendu Halder
Title: Robust 3D reconstruction in noisy environments Abstract: Automated inspection in industrial manufacturing can minimize the total production cost of a part. Current inspection solutions often involve measuring a part manually, which interrupts the machining process. We present two non-contact real-time systems which integrate visual inspection in-line with CNC (computer numerical control) machines and ensures [...]