MSR Speaking Qualifier
Senior Robotics Engineer
Robotics Institute,
Carnegie Mellon University

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 Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

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 [...]

MSR Speaking Qualifier
PhD Student
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Tejus Gupta

ZOOM Link: https://cmu.zoom.us/j/2388465851 Meeting ID: 238 846 5851 Google calendar invite link Title: Adaptive and Efficient Models for Intent Recognition Abstract: Assistive robots should have the ability to understand the intent of humans, predict their behavior, and plan to provide anticipatory assistance in complex real-life environments. In this thesis, we present adaptive and efficient algorithms for recognizing [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Siddharth Agrawal

Title: Learning to Imitate, Adapt and Communicate Abstract: For AI agents to co-exist with humans, they need to be able to learn from us humans, adapt to any perceived changes in our behavior, and communicate in a manner that is easily interpretable. In this work, we investigate the following 3 subproblems: Imitation Learning, Adaptation in Human-Agent [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Danny Vedova

Link: https://cmu.zoom.us/j/92810207130?pwd=blphbkovYVA2b1VoSmhuZ0h2bFRzZz09 Meeting ID: 928 1020 7130 Passcode: 721620 Title: Design and Analysis of a Control Pipeline for a Manipulator in Space Abstract: Many satellites are rapidly reaching the end of their lifespans, and risk de-orbiting if no action is taken. One common problem satellites face towards the end of their lifespans is that they are running [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Fan Jia

Zoom Link: https://cmu.zoom.us/j/9793644214?pwd=enpab3dPc0FBWVdqWDNrcVlabUJCZz09 Meeting ID: 979 364 4214 Passcode: 304453 Title: Trust-Aware Behavior Reflection for Robot Swarm Self-Healing Abstract: The deployment of robot swarms is influenced by real-world factors, such as motor issues, sensor failure, and wind disturbances. These factors cause the appearance of faulty robots. In a decentralized swarm, sharing incorrect information from faulty robots will lead to [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Tejas Zodage

Meeting Link: https://cmu.zoom.us/j/2427727031   Title: Point Cloud Registration as a Classification Problem Abstract: Point Cloud Registration(PCR) is an important step in fields such as robotic manipulation, augmented and virtual reality, SLAM, etc. In the context of computer vision, registration, in general, refers to the process of aligning data obtained from different frames, and as the [...]

PhD Thesis Defense
Robotics Institute,
Carnegie Mellon University

Decentralized Navigation of Quadrotor Teams in Uncertain Workspaces

Abstract: A fundamental requirement for realizing scalable and responsive real-world multi-robot systems for time-sensitive critical applications such as search and rescue or building clearance is a motion-planning and coordination framework that exhibits three essential properties. The first property is safety that encompasses aspects relating to kinodynamic feasibility and collision-avoidance. The second property is reliability that [...]

PhD Thesis Proposal
PhD Student
Robotics Institute,
Carnegie Mellon University

Control of Robots with Nonstationary Dynamics

Abstract: Robots can be constructed with fewer resources and less strict constraints than is generally believed. Soft robots can be constructed with very few parts and from a wide variety of materials. This makes them a potentially appealing choice for applications where there are resource constraints on system fabrication. However, soft robot dynamics are difficult [...]

PhD Thesis Defense
Robotics Institute,
Carnegie Mellon University

Bayesian Models for Science-Driven Robotic Exploration

Gates Hillman Center 4405

Abstract Planetary rovers allow for science investigations at remote locations. They have traversed many kilometers and made major scientific discoveries. However, rovers spend a considerable amount of time awaiting instructions from mission control. The reason is that they are designed for highly supervised data collection, not for autonomous exploration. The exploration of farther worlds will [...]