Publications




Provable Probabilistic Safety and Feasibility-Assured Control for Autonomous Vehicles Using Exponential Control Barrier Functions
Spencer Van Koevering, Yiwei Lyu, Wenhao Luo, and John M. Dolan
Conference Paper, Proceedings of the IEEE Intelligent Vehicles Symposium (IV), pp. 952-957, June, 2022
Large-scale Heterogeneous Multi-Robot Coverage via Domain Decomposition and Generative Allocation
Jiaheng Hu, Howard Coffin, Julian Whitman, Matthew Travers, and Howie Choset
Workshop Paper, 15th International Workshop on the Algorithmic Foundations of Robotics (WAFR '22), June, 2022
Scaling distributed artificial intelligence/machine learning for decision dominance in all-domain operations
Shane Shaneman, Jemin George, and Carl Busart
Conference Paper, Proceedings of SPIE Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications IV, Vol. 12113, June, 2022
WALT:Watch And Learn 2D Amodal Representation using Time-lapse Imagery
Dinesh Reddy Narapureddy, Robert Tamburo, and Srinivasa G. Narasimhan
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2022
Core Challenges in Embodied Vision-Language Planning
Jonathan Francis, Nariaki Kitamura, Felix Labelle, Xiaopeng Lu, Ingrid Navarro, and Jean Oh
Journal Article, Journal of Artificial Intelligence Research, Vol. 74, pp. 459-515, May, 2022
Parametric Control Barrier Functions based Adaptive Safe Control for Heterogeneous Autonomous Vehicles
Yiwei Lyu, Wenhao Luo, and John M. Dolan
Workshop Paper, ICRA Workshop on Safe and Reliable Robot Autonomy Under Uncertainty, May, 2022
Autonomous Ultrasound Scanning using Bayesian Optimization and Hybrid Force Control
Raghavv Goel, FNU Abhimanyu, Kirtan Patel, John Galeotti, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Unmanned Aerial Vehicle Mapping with Semantic and Traversability Metrics for Forest Fire Mitigation
David Russell, Tito Arevalo, Chinmay Garg, Winnie Kuang, Francisco Yandun, David Wettergreen, and George Kantor
Workshop Paper, ICRA 2022 Innovation in Forestry Robotics: Research and Industry Adoption, May, 2022
Community-based participatory research for low-cost air pollution monitoring in the wake of unconventional oil and gas development in the Ohio River Valley: Empowering impacted residents through community science
Garima Raheja, Leatra Harper, Ana Tsuhlares Hoffman, Yuri Gorby, Lyssa Freese, Brendan O'Leary, Nathan Deron, Shannon Smith, Ted Auch, Melissa Goodwin, and Daniel M. Westervelt
Journal Article, Environmental Research Letters, Vol. 17, No. 6, pp. 1 - 13, May, 2022
Speed Planning in Dynamic Environments over a Fixed Path for Autonomous Vehicles
Wenda Xu and John M. Dolan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3321 - 3327, May, 2022
AirDOS: Dynamic SLAM benefits from Articulated Objects
Yuheng Qiu, Chen Wang, Wenshan Wang, Mina Henein, and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
AirLoop: Lifelong Loop Closure Detection
Dasong Gao, Chen Wang, and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
AMRA*: Anytime Multi-Resolution Multi-Heuristic A*
Dhruv Mauria Saxena, Tushar Kusnur, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Autonomous Exploration Development Environment and the Planning Algorithms
Chao Cao, Hongbiao Zhu, Fan Yang, Yukun Xia, Howie Choset, Jean Oh, and Ji Zhang
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Configuration Control for Physical Coupling of Heterogeneous Robot Swarms
Sha Yi, Zeynep Temel, and Katia Sycara
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Design of a Biomimetic Tactile Sensor for Material Classification
Kevin Dai, Xinyu Wang, Allison M. Rojas, Evan Harber, Yu Tian, Nicholas Paiva, Joseph Gnehm, Evan Schindewolf, Howie Choset, Victoria A. Webster-Wood, and Lu Li
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
EDPLVO: Efficient Direct Point-Line Visual Odometry
Lipu Zhou, Guoquan Huang, Yinian Mao, Shengze Wang, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 7559 - 7565, May, 2022
Generalized Omega Turn Gait Enables Agile Limbless Robot Turning in Complex Environment
Tianyu Wang, Baxi Chong, Yuelin Deng, Ruijie Fu, Howie Choset, and Daniel I. Goldman
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Global Visual-Inertial Ground Vehicle State Estimation via Image Registration
Yehonathan Litman, Daniel McGann, Eric Dexheimer, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 8178 - 8184, May, 2022
HoloOcean: An Underwater Robotics Simulator
Easton Potokar, Spencer Ashford, Michael Kaess, and Josh Mangelson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3040 - 3046, May, 2022
Multi-Agent Dynamic Ergodic Search with Low-Information Sensors
Howard Coffin, Ian Abraham, Guillaume Sartoretti, Tyler Dillstrom, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
PatchGraph: In-hand Tactile Tracking with Learned Surface Normals
Paloma Sodhi, Michael Kaess, Mustafa Mukadam, and Stuart Anderson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2164 - 2170, May, 2022
Planning with learned model preconditions for water manipulation
Alex LaGrassa and Oliver Kroemer
Workshop Paper, 2nd Workshop on Representing and Manipulating Deformable Objects, May, 2022
Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation
Jacky Liang, Mohit Sharma, Alex LaGrassa, Shivam Vats, Saumya Saxena, and Oliver Kroemer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
ShapeMap 3-D: Efficient shape mapping through dense touch and vision
Sudharshan Suresh, Zilin Si, Joshua Mangelson, Wenzhen Yuan, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 7073 - 7080, May, 2022
Synergistic Scheduling of Learning and Allocation of Tasks in Human-Robot Teams
Shivam Vats, Oliver Kroemer, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Modular Robot Design Optimization with Generative Adversarial Networks
Jiaheng Hu, Julian Whitman, Matthew Travers, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Distributed Reinforcement Learning for Autonomous Driving
Zhe Huang
Master's Thesis, Tech. Report, CMU-RI-TR-22-09, Robotics Institute, Carnegie Mellon University, May, 2022
Fast 6D Object Pose Refinement via Deep Texture Rendering
Shun Iwase
Master's Thesis, Tech. Report, CMU-RI-TR-22-24, Robotics Institute, Carnegie Mellon University, May, 2022
Learning Multi-Modal Navigation in Unstructured Environments
Arne Suppe
PhD Thesis, Tech. Report, CMU-RI-TR-22-22, Robotics Institute, Carnegie Mellon University, May, 2022
Smartphone Localization for Indoor Pedestrian Navigation
Vivek Roy
Master's Thesis, Tech. Report, CMU-RI-TR-22-23, Robotics Institute, Carnegie Mellon University, May, 2022
Spatially-Adaptive Multilayer Selection for GAN Inversion and Editing
Gaurav Parmar
Master's Thesis, Tech. Report, CMU-RI-TR-22-26, Robotics Institute, Carnegie Mellon University, May, 2022
Direct-Drive Hands: Making Robot Hands Transparent and Reactive to Contacts
Ankit Bhatia
PhD Thesis, Tech. Report, CMU-RI-TR-22-16, Robotics Institute, Carnegie Mellon University, May, 2022
Vision-based Aircraft Detection and Tracking for Detect-and-Avoid
Sourish Ghosh
Master's Thesis, Tech. Report, CMU-RI-TR-22-11, Robotics Institute, Carnegie Mellon University, May, 2022
Amodal Visual Scene Representations With and Without Geometry
Adam W. Harley
PhD Thesis, Tech. Report, CMU-RI-TR-22-13, Robotics Institute, Carnegie Mellon University, May, 2022
RCA: Ride Comfort-Aware First-Person Navigation via Self-Supervised Learning
Xinjie Yao
Master's Thesis, Tech. Report, CMU-RI-TR-22-15, Robotics Institute, Carnegie Mellon University, May, 2022
Resource-Constrained Learning and Inference for Visual Perception
Mengtian Li
PhD Thesis, Tech. Report, CMU-RI-TR-22-20, Robotics Institute, Carnegie Mellon University, May, 2022
Multi-Agent Path Finding for Precedence-Constrained Goal Sequences
Han Zhang, Jingkai Chen, Jiaoyang Li, Brian Williams, and Sven Koenig
Conference Paper, Proceedings of 21th International Joint Conference on Autonomous Agents and MultiAgent Systems (AAMAS '22), May, 2022
Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding
Xinyi Zhong, Jiaoyang Li, Sven Koenig, and Hang Ma
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Understanding, Exploiting and Improving Inter-view Relationships
Sibi Venkatesan
PhD Thesis, Tech. Report, CMU-RI-TR-22-19, Robotics Institute, Carnegie Mellon University, May, 2022
Stabilizing the Training Dynamics of Generative Models using Self-Supervision
Akshay Dharmavaram
Master's Thesis, Tech. Report, CMU-RI-TR-22-18, Robotics Institute, Carnegie Mellon University, May, 2022
Stiffness Mapping of Deformable Objects Through Supervised Embedding and Gaussian Process Regression
Evan Harber
Master's Thesis, Tech. Report, CMU-RI-TR-22-14, Robotics Institute, Carnegie Mellon University, May, 2022
Physical Interaction and Manipulation of the Environment using Aerial Robots
Azarakhsh Keipour
PhD Thesis, Tech. Report, CMU-RI-TR-22-17, Robotics Institute, Carnegie Mellon University, May, 2022
Visual Representation and Recognition without Human Supervision
Senthil Purushwalkam
PhD Thesis, Tech. Report, CMU-RI-TR-22-21, Robotics Institute, Carnegie Mellon University, May, 2022
Mission-level Robustness with Rapidly-deployed, Autonomous Aerial Vehicles by Carnegie Mellon Team Tartan at MBZIRC 2020
Bhattacharya A, Gandhi A, Merkle L, Tiwari R, Warrior K, Winata S, Saba A, Zhang K, Kroemer O, and Scherer S
Journal Article, Field Robotics Journal, pp. 172-200, May, 2022
Resilient and Modular Subterranean Exploration with a Team of Roving and Flying Robots
Scherer S, Agrawal V, Best G, Cao C, Cujic K, Darnley R, DeBortoli R, Dexheimer E, Drozd B, Garg R, Higgins I, Keller J, Kohanbash D, Nogueira L, Pradhan R, Tatum M, K. Viswanathan V, Willits S, Zhao S, Zhu H, Abad D, Angert T, Armstrong G, Boirum R, Dongare A, Dworman M, Hu S, Jaekel J, Ji R, Lai A, Hsuan Lee Y, Luong A, Mangelson J, Maier J, Picard J, Pluckter K, Saba A, Saroya M, Scheide E, Shoemaker-Trejo N, Spisak J, Teza J, Yang F, Wilson A, Zhang H, Choset H, Kaess M, Rowe A, Singh S, Zhang J, A. Hollinger G, and Travers M
Journal Article, Field Robotics Journal, pp. 678-734, May, 2022
Fundamental Science and Engineering Questions in Planetary Cave Exploration
J. Judson Wynne, Timothy N. Titus, Ali-akbar Agha-Mohammadi, Armando Azua-Bustos, Penelope J. Boston, Pablo de León, Cansu Demirel-Floyd, Jo De Waele, Heather Jones, Michael J. Malaska, Ana Z. Miller, Haley M. Sapers, Francesco Sauro, Derek L. Sonderegger, Kyle Uckert, Uland Y. Wong, E. Calvin Alexander Jr., Leroy Chiao, Glen E. Cushing, John DeDecker, Alberto G. Fairén, Amos Frumkin, Gary L. Harris, Michelle L. Kearney, Laura Kerber, Richard J. Léveillé, Kavya Manyapu, Matteo Massironi, John E. Mylroie, Bogdan P. Onac, Scott E. Parazynski, Charity M. Phillips-Lander, Thomas H. Prettyman, Dirk Schulze-Makuch, Robert V. Wagner, William L. Whittaker, and Kaj E. Williams
Journal Article, Journal of Geophysical Research: Planets, May, 2022
Model-Accuracy Aware Anytime Planning with Simulation Verification for Navigating Complex Terrains
Manash Pratim Das
Master's Thesis, Tech. Report, CMU-RI-TR-22-25, Robotics Institute, Carnegie Mellon University, April, 2022
ControllerPose: Inside-Out Body Capture with VR Controller Cameras
Karan Ahuja, Vivian Shen, Cathy Fang, Nathan Riopelle, Andy Kong, and Chris Harrison
Conference Paper, Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems, April, 2022
MouthHaptics in VR using a Headset Ultrasound Phased Array
Vivian Shen, Craig Shultz, and Chris Harrison
Conference Paper, Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems, April, 2022