Field Robotics Center Seminar
Convex Interpolation Control with Formal Guarantees for Disturbed and Constrained Nonlinear Systems
Event Location: GHC 2109Bio: Bastian Schürmann is a PhD candidate at the Institute of Robotics and Embedded Systems at the Technical University of Munich, Germany. There he works in the Cyber-Physical Systems group with Professor Matthias Althoff. His research focuses on obtaining controllers with high performance and formal guarantees for safety-critical systems. This is achieved [...]
Vision-Enhanced Lidar Odometry and Mapping
Event Location: GHC 2109Bio: Daniel Lu is an MS student at the Robotics Institute at Carnegie Mellon University advised by Prof. George Kantor. Daniel received his Bachelor's of Applied Science in Engineering Physics from the University of British Columbia in 2014. His research currently focuses on perception and pose estimation using a combination of cameras [...]
Visual SLAM with Semantic Scene Understanding
Event Location: NSH 1507Bio: Shichao Yang is a Ph.D. student in the Mechanical Engineering at Carnegie Mellon University, advised by Prof. Sebastian Scherer in the Robotics Institute. He received a B.S in Mechanical Engineering from Shanghai Jiao Tong University in 2013. His research focuses on visual simultaneous localization and mapping (SLAM) combined with semantic scene [...]
“Ensuring Safe Human-Robot Co-Existence by Reachability Analysis”
Matthias Althoff Technische Universität München Abstract Modern manufacturing companies are expected to quickly and efficiently adapt to production changes, and robotics has long been known as the candidate solution for the required flexibility. To improve such flexibility, future working environments will be populated by both humans and robot manipulators, sharing the same workspace. This scenario [...]
A Fast & Efficient Mission Planner for Multi-rotor Aerial Vehicles in Large, High-resolution Maps of Cluttered Environments
Abstract: Unmanned aerial vehicles have many potential applications, such as monitoring crops and inspecting infrastructure. The potential benefits are greater if the UAV is semi- or fully-autonomous, requiring only occasional human oversight or none at all. This would allow the above use cases to be performed at lower cost, during any time of day, or [...]
Mutual Information for Robust Visual Odometry
Abstract Off-the-shelf digital camera sensors often have limited dynamic range and real-world dynamic lighting changes adversely impact visual state estimation algorithms. This is because most conventional visual state estimation algorithms make the constancy of brightness assumption, wherein the intensity of a pixel is expected to be constant across small motions of a camera. However, this [...]
SLAM and 3D Reconstruction using Imaging Sonar
Abstract Underwater localization and mapping are unusually difficult problems in robotics due to the poor propagation of light through water, which prohibits receiving GPS signals underwater and using cameras to see more than a few meters in turbid water. Due to this, acoustic imaging sonars have been widely used on underwater vehicles as the primary [...]