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The back-end module of Distributed Collaborative Simultaneous Localization and Mapping (DCSLAM) requires solving a nonlinear Pose Graph Optimization (PGO) under a distributed setting, also known as SE(d)-synchronization. Most existing…
Trajectory optimization is a widely used technique in robot motion planning for letting the dynamics and constraints on the system shape and synthesize complex behaviors. Several previous works have shown its benefits in high-dimensional…
Recent localization frameworks exploit spatial information of complex channel measurements (CMs) to estimate accurate positions even in multipath propagation scenarios. State-of-the art CM fingerprinting(FP)-based methods employ…
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time…
This paper addresses multi-robot informative path planning (IPP) for environmental monitoring. The problem involves determining informative regions in the environment that should be visited by robots to gather the most information about the…
Most approximation methods in high dimensions exploit smoothness of the function being approximated. These methods provide poor convergence results for non-smooth functions with kinks. For example, such kinks can arise in the uncertainty…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
Point cloud segmentation (PCS) aims to make per-point predictions and enables robots and autonomous driving cars to understand the environment. The range image is a dense representation of a large-scale outdoor point cloud, and segmentation…
Global navigation satellite systems (GNSS) face significant challenges in urban and sub-urban areas due to non-line-of-sight (NLOS) propagation, multipath effects, and low received power levels, resulting in highly non-linear and…
In this paper, we generalize proximal methods that were originally designed for convex optimization on normed vector space to non-convex pose graph optimization (PGO) on special Euclidean groups, and show that our proposed generalized…
Implicit neural representations (INRs) are increasingly being used as tools to map coordinates to signals, encompassing applications from neural fields to texture compression, shape representations, and beyond. Most INR methods are based on…
In this paper, we propose a novel coarse-to-fine continuous pose diffusion method to enhance the precision of pick-and-place operations within robotic manipulation tasks. Leveraging the capabilities of diffusion networks, we facilitate the…
Differential Dynamic Programming (DDP) is one of the indirect methods for solving an optimal control problem. Several extensions to DDP have been proposed to add stagewise state and control constraints, which can mainly be classified as…
Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…
Multi-agent mapping is a fundamentally important capability for autonomous robot task coordination and execution in complex environments. While successful algorithms have been proposed for mapping using individual platforms, cooperative…
We introduce an approach for the real-time (2Hz) creation of a dense map and alignment of a moving robotic agent within that map by rendering using a Graphics Processing Unit (GPU). This is done by recasting the scan alignment part of the…
Sensors producing 3D point clouds such as 3D laser scanners and RGB-D cameras are widely used in robotics, be it for autonomous driving or manipulation. Aligning point clouds produced by these sensors is a vital component in such…
In this paper, we consider the problems in the practical application of visual simultaneous localization and mapping (SLAM). With the popularization and application of the technology in wide scope, the practicability of SLAM system has…