Publications




Terrain Mapping and Pose Estimation for Polar Shadowed Regions of the Moon
Haidar Jamal, Vaibhav Gupta, Neil Khera, Srinivasan Vijayarangan, David S. Wettergreen, and William L. Whittaker
Conference Paper, Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '20), October, 2020
Machine Learning Parallelism Could Be Adaptive, Composable and Automated
Hao Zhang
PhD Thesis, Tech. Report, CMU-RI-TR-20-54, Robotics Institute, Carnegie Mellon University, October, 2020
Stability and Control of Chaplygin Beanies Coupled to a Platform Through Nonholonomic Constraints
Blake Buchanan, Matthew Travers, Howie Choset, and Scott D. Kelly
Conference Paper, Proceedings of ASME Dynamic Systems and Control Conference (DSCC '20), Vol. 2, October, 2020
A Compact and Infrastructure-free Confined Space Sensor for 3D Scanning and SLAM
Daqian Cheng, Haowen Shi, Michael Schwerin, Michelle Crivella, Lu Li, and Howie Choset
Conference Paper, Proceedings of IEEE SENSORS, October, 2020
A Kalman estimation model of human trust in supervisory control of robotic swarms
Huao Li, Michael Lewis, and Katia Sycara
Conference Paper, Proceedings of Human Factors and Ergonomics Society 64th Annual Meeting (HFES '20), pp. 329 - 333, October, 2020
A Long-Term Evaluation of Adaptive Interface Design for Mobile Transit Information
Oscar J. Romero, Alexander Haig, Lynn Kirabo, Qian Yang, John Zimmerman, Anthony Tomasic, and Aaron Steinfeld
Conference Paper, Proceedings of 22nd International Conference on Human-Computer Interaction with Mobile Devices and Services (MobileHCI '20), October, 2020
A Robust Multi-Stereo Visual-Inertial Odometry Pipeline
Joshua Jaekel, Joshua G. Mangelson, Sebastian A. Scherer, and Michael Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4623 - 4630, October, 2020
A Tunable Magnet-based Tactile Sensor Framework
Evan Harber, Evan Schindewolf, Vickie Webster-Wood, Howie Choset, and Lu Li
Conference Paper, Proceedings of IEEE SENSORS, October, 2020
A Whisker-inspired Fin Sensor for Multi-directional Airflow Sensing
Suhan Kim, Regan Kubicek, Aleix Paris, Andrea Tagliabue, Jonathan P. How, and Sarah Bergbreiter
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1330 - 1337, October, 2020
Allocating Limited Sensing Resources to Accurately Map Dynamic Environments
Derek Mitchell and Nathan Michael
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4706 - 4711, October, 2020
An Untethered Brittle Star-Inspired Soft Robot for Closed-Loop Underwater Locomotion
Zach J. Patterson, Andrew P. Sabelhaus, Keene Chin, Tess Hellebrekers, and Carmel Majidi
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 8758 - 8764, October, 2020
ARAS: Ambiguity-aware Robust Active SLAM based on Multi-hypothesis State and Map Estimations
Ming Hsiao, Joshua G. Mangelson, Sudharshan Suresh, Christian Debrunner, and M. Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5037 - 5044, October, 2020
Assessing Lesion Segmentation Bias of Neural Networks on Motion Corrupted Brain MRI
Tejas Sudharshan Mathai, Yi Wang, and Nathan Cross
Workshop Paper, MICCAI '20 Brain-Lesion Workshop, October, 2020
Assisted Mobile Robot Teleoperation with Intent-aligned Trajectories via Biased Incremental Action Sampling
Xuning Yang and Nathan Michael
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10998 - 11003, October, 2020
Automated Detection of Optimal DBS Device Settings
Yaohan Ding, Itir Onal Ertugrul, Ali Darzi, Nicole Provenza, Laszlo A. Jeni, David Borton, Wayne Goodman, and Jeffrey Cohn
Conference Paper, Proceedings of Companion Publication of the 2020 International Conference on Multimodal Interaction (ICMI '20), pp. 354 - 356, October, 2020
Back-Hand-Pose: 3D Hand Pose Estimation for a Wrist-worn Camera via Dorsum Deformation Network
Erwin Wu, Ye Yuan, Hui-Shyong Yeo, Aaron Quigley, Hideki Koike, and Kris M. Kitani
Conference Paper, Proceedings of 33rd Annual ACM Symposium on User Interface Software and Technology (UIST '20), pp. 1147 - 1160, October, 2020
Cloth Region Segmentation for Robust Grasp Selection
Jianing Qian, Thomas Weng, Luxin Zhang, Brian Okorn, and David Held
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 9553 - 9560, October, 2020
Comparison of Balance Recovery Among Current Control Strategies for Robotic Leg Prostheses
Nitish Thatte and Hartmut Geyer
Conference Paper, Proceedings of International Symposium on Wearable Robotics (WeRob '20), pp. 63 - 67, October, 2020
Contact Localization using Velocity Constraints
Sean Wang, Ankit Bhatia, Matthew T. Mason, and Aaron M. Johnson
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7351 - 7358, October, 2020
Depth Completion via Inductive Fusion of Planar LIDAR and Monocular Camera
Chen Fu, Chiyu Dong, Christoph Mertz, and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10843 - 10848, October, 2020
Diminished Reality for Close Quarters Robotic Telemanipulation
Ada Virginia Taylor, Ayaka Matsumoto, Elizabeth J. Carter, Alexander Plopski, and Henny Admoni
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 11531 - 11538, October, 2020
Efficient Multiresolution Scrolling Grid for Stereo Vision-based MAV Obstacle Avoidance
Eric Dexheimer, Joshua G. Mangelson, Sebastian Scherer, and Michael Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4758 - 4765, October, 2020
Efficient Trajectory Library Filtering for Quadrotor Flight in Unknown Environments
Vaibhav K. Viswanathan, Eric Dexheimer, Guanrui Li, Giuseppe Loianno, Michael Kaess, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2510 - 2517, October, 2020
Enforcing Multilabel Consistency for Automatic Spatio-Temporal Assessment of Shoulder Pain Intensity
Diyala Erekat, Zakia Hammal, Maimoon Siddiqui, and Hamdi Dibeklioglu
Workshop Paper, In Adjunct Proceedings of the 22nd International Conference on Multimodal Interaction (ICMI '20) Workshop Face and Gesture Analysis for Health Informatics (FGAHI), pp. 156 - 164, October, 2020
Face and Gesture Analysis for Health Informatics
Zakia Hammal, Di Huang, Kévin Bailly, Liming Chen, and Mohamed Daoudi
Conference Paper, Proceedings of 22nd International Conference on Multimodal Interaction (ICMI '20), pp. 874 - 875, October, 2020
Fast Global Motion Planning for Dynamic Legged Robots
Joseph Norby and Aaron M. Johnson
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3829 - 3836, October, 2020
Learning Highway Ramp Merging Via Reinforcement Learning with Temporally-Extended Actions
Samuel Triest, Adam Villaflor, and John M. Dolan
Conference Paper, Proceedings of IEEE Intelligent Vehicles Symposium (IV '20), pp. 1595 - 1600, October, 2020
Learning Vision-Based Physics Intuition Models for Non-Disruptive Object Extraction
Sarthak Ahuja, Henny Admoni, and Aaron Steinfeld
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 8161 - 8168, October, 2020
Learning Visuomotor Policies for Aerial Navigation Using Cross-Modal Representations
Rogerio Bonatti, Ratnesh Madaan, Vibhav Vineet, Sebastian Scherer, and Ashish Kapoor
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1637 - 1644, October, 2020
Making GIFs Accessible
Cole Gleason, Amy Pavel, Himalini Gururaj, Kris Kitani, and Jeffrey Bigham
Conference Paper, Proceedings of 22nd International ACM SIGACCESS Conference on Computers and Accessibility (ASSETS '20), October, 2020
MonoEye: Multimodal Human Motion Capture System Using A Single Ultra-Wide Fisheye Camera
Dong-Hyun Hwang, Kohei Aso, Ye Yuan, Kris Kitani, and Hideki Koike
Conference Paper, Proceedings of 33rd Annual ACM Symposium on User Interface Software and Technology (UIST '20), pp. 98 - 111, October, 2020
Motion Prediction in Visual Object Tracking
Jianren Wang and Yihui He
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10374 - 10379, October, 2020
Multi-Agent Path Finding with Mutex Propagation
Han Zhang, Jiaoyang Li, Pavel Surynek, Sven Koenig, and T. K. Satish Kumar
Conference Paper, Proceedings of 30th International Conference on Automated Planning and Scheduling (ICAPS '20), pp. 323 - 332, October, 2020
Multi-UAV Coverage Path Planning for the Inspection of Large and Complex Structures
Wei Jing, Di Deng, Yan Wu, and Kenji Shimada
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1480 - 1486, October, 2020
Multimodal Interaction in Psychopathology
Itir Onal Ertugrul, Jeffrey F. Cohn, and Hamdi Dibeklioglu
Workshop Paper, ICMI '20 Multimodal Interaction in Psychopathology Workshop, pp. 881 - 882, October, 2020
Multimodal Material Classification for Robots using Spectroscopy and High Resolution Texture Imaging
Zackory Erickson, Eliot Xing, Bharat Srirangam, Sonia Chernova, and Charles C. Kemp
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10452 - 10459, October, 2020
New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding
Jiaoyang Li, Graeme Gange, Daniel Harabor, Peter J. Stuckey, Hang Ma, and Sven Koenig
Conference Paper, Proceedings of 30th International Conference on Automated Planning and Scheduling (ICAPS '20), Vol. 30, pp. 193 - 201, October, 2020
Parametric Design of Underwater Optical Systems
Gideon Billings, Eduardo Iscar, and M. Johnson-Roberson
Conference Paper, Proceedings of Global Oceans 2020: Singapore - U.S. Gulf Coast (OCEANS '20), October, 2020
PERCH 2.0: Fast and Accurate GPU-based Perception via Search for Object Pose Estimation
Aditya Agarwal, Yupeng Han, and Maxim Likhachev
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10633 - 10640, October, 2020
ReachFlow: An Online Safety Assurance Framework for Waypoint-Following of Self-driving Cars
Qin Lin, Xin Chen, Aman Khurana, and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6627 - 6632, October, 2020
Safe Planning for Self-Driving Via Adaptive Constrained ILQR
Yanjun Pan, Qin Lin, Het Shah, and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2377 - 2383, October, 2020
Safety Verification of a Data-driven Adaptive Cruise Controller
Qin Lin, Sicco Verwer, and John Dolan
Conference Paper, Proceedings of IEEE Intelligent Vehicles Symposium (IV '20), pp. 2146 - 2151, October, 2020
TartanAir: A Dataset to Push the Limits of Visual SLAM
Wenshan Wang, Delong Zhu, Xiangwei Wang, Yaoyu Hu, Yuheng Qiu, Chen Wang, Yafei Hu, Ashish Kapoor, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4909 - 4916, October, 2020
Team Synchronization and Individual Contributions in Coop-Space Fortress
Huao Li, Tianwei Ni, Siddharth Agrawal, Dana Hughes, and Katia Sycara
Conference Paper, Proceedings of Human Factors and Ergonomics Society 64th Annual Meeting (HFES '20), pp. 82 - 86, October, 2020
Touch the Wind: Simultaneous Airflow, Drag and Interaction Sensing on a Multirotor
Andrea Tagliabue, Aleix Paris, Suhan Kim, Regan Kubicek, Sarah Bergbreiter, and Jonathan P. How
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1645 - 1652, October, 2020
TP-TIO: A Robust Thermal-Inertial Odometry with Deep ThermalPoint
Shibo Zhao, Peng Wang, Hengrui Zhang, Zheng Fang, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4505 - 4512, October, 2020
Ultra Low-Cost Printable Folding Robots
Saul Schaffer, Emily Wang, Nathan Cooper, Bo Li, Zeynep Temel, Ozan Akkus, and Victoria A. Webster-Wood
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3726 - 3731, October, 2020
Uncertainty-aware Self-supervised 3D Data Association
Jianren Wang, Siddharth Ancha, Yi-Ting Chen, and David Held
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 8125 - 8132, October, 2020
Verification of Stereo Camera Calibration using Laser Stripers for a Lunar Micro-Rover
Srinivasan Vijayarangan and David Wettergreen
Conference Paper, Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '20), October, 2020
Adversarial Path Sampling for Recommender Systems
Rui Ding, Bowei Chen, Guibing Guo, and Xiaochun Yang
Journal Article, IEEE Intelligent Systems, October, 2020