PhD Thesis Defense
Robotics Institute,
Carnegie Mellon University

Semantic Mapping for Autonomous Navigation and Exploration

Abstract: The last two decades have seen enormous progress in the sensors and algorithms for 3D perception, giving robots the means to build accurate spatial maps and localize themselves in them in real time. The geometric information in these maps is invaluable for navigation while avoiding obstacles, but insufficient, by itself, for robots to robustly [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Howard Coffin

Title: Mutual Information Maps for Single and Multi-Target Ergodic Search   Abstract: This thesis addresses use of multi-agent systems to perform autonomous search for moving targets. Target search has many applications, including search and rescue and surveillance, but most robotic systems used in these situations require human operators. Recent works have used ergodic search methods to [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Wanwen Chen

Title: Ultrasound-based Needle Tracking and Lateral Manipulation Planning for Common Needle Steering Abstract: Many medical interventions require inserting a needle towards the desired site. Robotic needle insertion can potentially provide reliable needle access independent of practitioner experience and availability. However, when the needle is inserted into heterogeneous tissue, the complicated needle-tissue interaction introduces multiple challenges [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Rohit Garg

Title: Coordinated Aerial Exploration of Subterranean Voids   Abstract: Subterranean exploration has been thrust into the spotlight by the recent DARPA Subterranean Challenge. Teams are tasked with developing a multi-agent system that can rapidly navigate through unknown underground environments while sending back maps and other semantic information. A system with such capabilities has a wide [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Harvey Shi

Title: The design of a compact laser scanner and an integrated simulation environment for smart manufacturing Abstract: Advanced manufacturing is on the rise with the notable progress in the additive and hybrid manufacturing field. However, most of the existing solutions are open loop without sensory feedback because of the lack of a small form factor [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Daqian Cheng

Zoom link: https://cmu.zoom.us/j/99726348928?pwd=azlicW9qZk1Nc3BkQXBLT2d6djVBQT09 Meeting ID: 997 2634 8928 Passcode: 136122   Title: SLAM with Laser Profilers for High Definition Mapping in Confined Spaces   Abstract: Three-dimensional reconstruction in confined spaces is important for the manufacturing of aircraft wings, the inspection of narrow pipes, the examination of turbine blades, etc. It is also challenging because confined spaces tend [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Quint Hester

Title: Graph Neural Networks for Wind Farm Yaw Optimization   Abstract: In order to mitigate the effects of climate change, it is important to maximize the power output of our wind energy resources. Wind farm control is typically greedy, with all turbines facing directly into the wind. Due to wake interactions, this leads to reductions [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

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 [...]

PhD Thesis Defense
Robotics Institute,
Carnegie Mellon University

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 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 [...]