Publications




Information-Theoretic Online Multi-Camera Extrinsic Calibration
Eric Dexheimer, Patrick Peluse, Jianhui Chen, James Pritts, and Michael Kaess
Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 4757 - 4764, April, 2022
Learning and Inference in Factor Graphs with Applications to Tactile Perception
Paloma Sodhi
PhD Thesis, Tech. Report, CMU-RI-TR-22-08, Robotics Institute, Carnegie Mellon University, March, 2022
Real-time vessel segmentation and reconstruction for virtual fixtures for an active handheld microneurosurgical instrument
Aravind Venugopal, Sara Moccia, Simone Foti, Arpita Routray, Robert A. MacLachlan, Alessandro Perin, Leonardo S. Mattos, Alexander K. Yu, Jody Leonardo, Elena De Momi, and Cameron N. Riviere
Journal Article, International Journal of Computer Assisted Radiology and Surgery, March, 2022
Bioinspired Robotic Actuators by Electrochemical Oxidation of Liquid Metal Droplets
Jiahe Liao and Carmel Majidi
Conference Paper, Proceedings of American Physical Society March Meeting (APS '22), March, 2022
MPLP: Massively Parallelized Lazy Planning
Shohin Mukherjee, Sandip Aine, and Maxim Likhachev
Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 3, March, 2022
DReyeVR: Democratizing Virtual Reality Driving Simulation for Behavioural & Interaction Research
Gustavo Silvera, Abhijat Biswas, and Henny Admoni
Conference Paper, Proceedings of ACM/IEEE International Conference on Human-Robot Interaction (HRI '22), pp. 639 - 643, March, 2022
An Agile and Dexterous Balancing Mobile Manipulator Robot
Roberto Shu
PhD Thesis, Tech. Report, CMU-RI-TR-22-07, Robotics Institute, Carnegie Mellon University, February, 2022
Contact Classification for Agriculture Manipulation in Cluttered Canopies
Moonyoung Lee, Kevin Zhang, George Kantor, and Oliver Kroemer
Workshop Paper, AI for Agriculture and Food Systems, February, 2022
Anytime Multi-Agent Path Finding via Machine Learning-Guided Large Neighborhood Search
Taoan Huang, Jiaoyang Li, Sven Koenig, and Bistra Dilkina
Conference Paper, Proceedings of 36th AAAI Conference on Artificial Intelligence (AAAI '22), February, 2022
Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding
Shao-Hung Chan, Jiaoyang Li, Graeme Gange, Daniel Harabor, Peter J. Stuckey, and Sven Koenig
Conference Paper, Proceedings of 36th AAAI Conference on Artificial Intelligence (AAAI '22), February, 2022
MAPF-LNS2: Repairing Multi-Agent Path Finding via Large Neighborhood Search
Jiaoyang Li, Zhe Chen, Daniel Harabor, Peter J. Stuckey, and Sven Koenig
Conference Paper, Proceedings of 36th AAAI Conference on Artificial Intelligence (AAAI '22), February, 2022
Shard Systems: Scalable, Robust and Persistent Multi-Agent Path Finding with Performance Guarantees
Christopher Leet, Jiaoyang Li, and Sven Koenig
Conference Paper, Proceedings of 36th AAAI Conference on Artificial Intelligence (AAAI '22), February, 2022
Planning and Execution using Inaccurate Models with Provable Guarantees on Task Completeness
Anirudh Vemula
PhD Thesis, Tech. Report, CMU-RI-TR-22-05, Robotics Institute, Carnegie Mellon University, February, 2022
Continuum Robots for Medical Interventions
Pierre Dupont, Nabil Simaan, Howie Choset, and Caleb Rucker
Journal Article, Proceedings of the IEEE, February, 2022
Metrics for Robot Proficiency Self-Assessment and Communication of Proficiency in Human-Robot Teams
Adam Norton, Henny Admoni, Jacob Crandall, Tesca Fitzgerald, Alvika Gautam, Michael Goodrich, Amy Saretsky, Matthias Scheutz, Reid Simmons, Aaron Steinfeld, and Holly Yanco
Journal Article, ACM Transactions on Human-Robot Interaction (THRI), February, 2022
Using Machine Learning to Support Transfer of Best Practices in Healthcare
Sebastian Caldas, Jieshi Chen, and Artur Dubrawski
Conference Paper, Proceedings of American Medical Informatics Association Annual Symposium (AMIA '21), pp. 265 - 274, February, 2022
W-Net: Dense and diagnostic semantic segmentation of subcutaneous and breast tissue in ultrasound images by incorporating ultrasound RF waveform data
Gautam Rajendrakumar Gare, Jiayuan Li, Rohan Joshi, Rishikesh Magar, Mrunal Prashant Vaze, Michael Yousefpour, Ricardo Luis Rodriguez, and John Michael Galeotti
Journal Article, Medical Image Analysis, February, 2022
Weak Supervision for Affordable Modeling of Electrocardiogram Data
Mononito Goswami, Benedikt Boecking, and Artur Dubrawski
Conference Paper, Proceedings of American Medical Informatics Association Annual Symposium (AMIA '21), pp. 536 - 545, February, 2022
Helping People Through Space and Time: Assistance as a Perspective on Human-Robot Interaction
Benjamin A. Newman, Reuben M. Aronson, Kris Kitani, and Henny Admoni
Journal Article, Frontiers in Robotics and AI, Vol. 8, January, 2022
Human-in-the-loop Planning of Mobile Robots
Xuning Yang
PhD Thesis, Tech. Report, CMU-RI-TR-22-04, Robotics Institute, Carnegie Mellon University, January, 2022
Model-Centric Verification of Artificial Intelligence
Nicholas Gisolfi
PhD Thesis, Tech. Report, CMU-RI-TR-22-02, Robotics Institute, Carnegie Mellon University, January, 2022
Person Transfers Between Multiple Service Robots
Xiang Zhi Tan
PhD Thesis, Tech. Report, CMU-RI-TR-22-01, Robotics Institute, Carnegie Mellon University, January, 2022
AirCode: A Robust Object Encoding Method
Kuan Xu, Chen Wang, Chao Chen, Wei Wu, and Sebastian Scherer
Journal Article, IEEE Robotics and Automation Letters, January, 2022
Spectral-Based Distributed Ergodic Coverage for Heterogeneous Multi-Agent Search
Guillaume Sartoretti, Ananya Rao, and Howie Choset
Conference Paper, Proceedings of International Symposium on Distributed Autonomous Robotic Systems (DARS), January, 2022
Aerial Field Robotics
Kulkarni M, Moon B, Alexis K, and Scherer S
Book Section/Chapter, Encyclopedia of Robotics, pp. 1-15, 2022
AdaFusion: Visual-LiDAR fusion with adaptive weights for place recognition
Lai H, Yin P, and Scherer S
Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 4, pp. 12038-12045, 2022
ALITA: A large-scale incremental dataset for long-term autonomy
Yin P, Zhao S, Ge R, Cisneros I, Fu R, Zhang J, Choset H, and Scherer S
Journal Article, arXiv preprint arXiv:2205. 10737, 2022
ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization
Cisneros I, Yin P, Zhang J, Choset H, and Scherer S
Journal Article, arXiv preprint arXiv:2207. 12317, 2022
Challenges in Close-Proximity Safe and Seamless Operation of Manned and Unmanned Aircraft in Shared Airspace
Patrikar J, Dantas JP, Ghosh S, Kapoor P, Higgins I, Aloor JJ, Navarro I, Sun J, Stoler B, Hamidi M, Baijal R, Moon B, Oh J, and Scherer S
Journal Article, arXiv preprint arXiv:2211. 06932, 2022
Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure
Mousaei M, Geng J, Keipour A, Bai D, and Scherer S
Conference Paper, Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4310-4317, 2022
Detection and Physical Interaction with Deformable Linear Objects
Keipour A, Mousaei M, Bandari M, Schaal S, and Scherer S
Conference Paper, Proceedings of ICRA 2022 2nd Workshop on Representing and Manipulating Deformable Objects, 2022
Drone flight data reveal energy and greenhouse gas emissions savings for very small package delivery
Rodrigues TA, Patrikar J, Oliveira NL, Matthews HS, Scherer S, and Samaras C
Journal Article, Patterns, Vol. 3, No. 8, pp. 100569, 2022
General Place Recognition Survey: Towards the Real-world Autonomy Age
Yin P, Zhao S, Cisneros I, Abuduweili A, Huang G, Milford M, Liu C, Choset H, and Scherer S
Journal Article, arXiv preprint arXiv:2209. 04497, 2022
I2D-Loc: Camera localization via image to LiDAR depth flow
Chen K, Yu H, Yang W, Yu L, Scherer S, and Xia GS
Journal Article, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 194, pp. 209-221, 2022
On Performance Impacts of Coordination via Submodular Maximization for Multi-Robot Perception Planning and the Dynamics of Target Coverage and Cinematography
Corah M and Scherer S
Conference Paper, Proceedings of RSS 2022 Workshop on Envisioning an Infrastructure for Multi-Robot and Collaborative Autonomy Testing and Evaluation, 2022
Predicting Like a Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace
Patrikar J, Moon B, Oh J, and Scherer S
Conference Paper, Proceedings of International Conference on Robotics and Automation (ICRA), 2022
Resilient Multi-Sensor Exploration of Multifarious Environments with a Team of Aerial Robots
Best G, Garg R, Keller J, Hollinger GA, and Scherer S
Conference Paper, Proceedings of Robotics: Science and Systems, 2022
Robust Modeling and Controls for Racing on the Edge
Spisak J, Saba A, Suvarna N, Mao B, Zhang CT, Chang C, Scherer S, and Ramanan D
Conference Paper, Proceedings of arXiv preprint arXiv:2205.10841, 2022
Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning
Wang SJ, Triest S, Wang W, Scherer S, and Johnson A
Conference Paper, Proceedings of the 5th Conference on Robot Learning, Vol. 164, pp. 224-233, 2022
SphereVLAD++: Attention-Based and Signal-Enhanced Viewpoint Invariant Descriptor
Zhao S, Yin P, Yi G, and Scherer S
Journal Article, IEEE Robotics and Automation Letters, Vol. 8, No. 1, pp. 256-263, 2022
Targetless Extrinsic Calibration of Stereo, Thermal, and Laser Sensors in Structured Environments
Fu T, Yu H, Yang W, Hu Y, and Scherer S
Journal Article, IEEE Transactions on Instrumentation and Measurement, Vol. 71, pp. 1-11, 2022
TartanCalib: Iterative Wide-Angle Lens Calibration using Adaptive SubPixel Refinement of AprilTags
Duisterhof BP, Hu Y, Teng SH, Kaess M, and Scherer S
Journal Article, arXiv preprint arXiv:2210. 02511, 2022
TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models
Triest S, Sivaprakasam M, Wang SJ, Wang W, Johnson AM, and Scherer S
Conference Paper, Proceedings of 2022 International Conference on Robotics and Automation (ICRA), 2022
TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning
Moon B, Chatterjee S, and Scherer S
Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapping Monocular Cameras
He Y, Yu H, Yang W, and Scherer S
Conference Paper, Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 9452-9458, 2022
Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics
Zhen W, Yu H, Hu Y, and Scherer S
Conference Paper, Proceedings of 2022 International Conference on Robotics and Automation (ICRA), 2022
Visual Servoing Approach to Autonomous UAV Landing on a Moving Vehicle
Keipour A, Pereira GA, Bonatti R, Garg R, Rastogi P, Dubey G, and Scherer S
Journal Article, Sensors, Vol. 22, No. 17, pp. 6549, 2022
VTOL failure detection and recovery by utilizing redundancy
Mousaei M, Keipour A, Geng J, and Scherer S
Journal Article, arXiv preprint arXiv:2206. 00588, 2022
Automated Assessment of Cardiovascular Sufficiency Using Non-Invasive Physiological Data
Xinyu Li, Michael R. Pinsky, and Artur Dubrawski
Journal Article, Sensors, Vol. 22, No. 3, 2022
Multi-Objective Path-Based D* Lite
Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, and Howie Choset
Journal Article, IEEE Robotics and Automation Letters, 2022