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 [...]

PhD Thesis Proposal
PhD Student
Robotics Institute,
Carnegie Mellon University

Meshlet Primitives for Dense RGB-D SLAM in Dynamic Environments

Abstract: Dense RGB-D SLAM has been well established as a method for achieving robust localization while providing high quality dense surface reconstruction. However, despite significant progress, dense RGB-D SLAM has remained difficult to achieve on computationally constrained platforms, such as those used on autonomous aerial vehicles. A significant limiting factor in the current state of [...]

PhD Thesis Defense
Robotics Institute,
Carnegie Mellon University

Heuristics for routing and scheduling of Spatio-temporal type problems in industrial environments

Abstract: Spatio-temporal problems are fairly common in industrial environments. In practice, these problems come with different characteristics and are often very hard to solve optimally. So, practitioners prefer to develop heuristics that exploit mathematical structure specific to the problem for obtaining good performance. In this thesis, we will present work on heuristics for 3 different [...]

PhD Thesis Proposal
Postdoctoral Fellow
Robotics Institute,
Carnegie Mellon University

Computational Light Transport with Interferometry

3305 Newell-Simon Hall

Abstract: Optical interferometry is the measurement of small, sub-wavelength distances by exploiting the wave nature of light. Due to its capability to resolve micron-scale displacements, it has found widespread applications in biomedical imaging, industrial fabrication, physics, and astrophysics. In this thesis, we introduce a set of techniques we call computational interferometry, that bring the benefits [...]

PhD Thesis Proposal
Robotics Institute,
Carnegie Mellon University

3D Reconstruction using Differential Imaging

Abstract: 3D reconstruction has been at the core of many computer vision applications, including autonomous driving, visual inspection in manufacturing, and augmented and virtual reality (AR/VR). Despite the tremendous progress made over the years, there remain challenging open-research problems. This thesis addresses three such problems in 3D reconstruction. First, we address the problem of defocus [...]

PhD Thesis Proposal
Robotics Institute,
Carnegie Mellon University

Beyond rigid objects: Data-driven Methods for Manipulation of Deformable Objects

Abstract: Manipulation of deformable objects challenges common assumptions made for rigid objects. Deformable objects have high intrinsic state representation and complex dynamics with high degrees of freedom, making it difficult for state estimation and planning. The completed work can be divided into two parts. In the first part, we explore reinforcement learning (RL) as a [...]