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Optimization is often difficult to apply to robots due to the presence of errors in model parameters, which can cause constraints to be violated during execution on the robot. This paper presents a method to optimize trajectories with large modeling errors using a combination of robust...
Multi-robot networks use wireless communication to provide wide-ranging services such as aerial surveillance and unmanned delivery. However, effective coordination between multiple robots requires trust, making them particularly vulnerable to cyber-attacks. Specifically, such networks can be...
This paper reports on an integrated inference and decision-making approach for autonomous driving that models vehicle behavior for both our vehicle and nearby vehicles as a discrete set of closed-loop policies. Each policy captures a distinct high-level behavior and intention, such as driving...
Robot teleoperation systems face a common set of challenges including latency, low-dimensional user commands, and asymmetric control inputs. User control with Brain–Computer Interfaces (BCIs) exacerbates these problems through especially noisy and erratic low-dimensional motion commands due to...
Google’s Project Tango has made integrated depth sensing and onboard visual-intertial odometry available to mobile devices such as phones and tablets. In this work, we explore the problem of large-scale, real-time 3D reconstruction on a mobile devices of this type. Solving this problem is a...
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