Related papers: TCAFF: Temporal Consistency for Robot Frame Alignm…

Trajectory prediction and generation are crucial for autonomous robots in dynamic environments. While prior research has typically focused on either prediction or generation, our approach unifies these tasks to provide a versatile framework…

This paper presents an implementation and evaluation of a Distributed Kalman--Consensus Filter (DKCF) for Multi-Object Tracking (MOT) in mobile robot networks operating under partial observability and heterogeneous localization uncertainty.…

Many image-based perception tasks can be formulated as detecting, associating and tracking semantic keypoints, e.g., human body pose estimation and tracking. In this work, we present a general framework that jointly detects and forms…

Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…

Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at…

Cooperative perception presents significant potential for enhancing the sensing capabilities of individual vehicles, however, inter-agent latency remains a critical challenge. Latencies cause misalignments in both spatial and semantic…

In this paper, we investigate the inconsistency problem arising from observability mismatch that frequently occurs in nonlinear systems such as multi-robot cooperative localization and simultaneous localization and mapping. For a general…

Multi-frame human pose estimation has long been a compelling and fundamental problem in computer vision. This task is challenging due to fast motion and pose occlusion that frequently occur in videos. State-of-the-art methods strive to…

Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…

Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…

In this study, we address vision-language-guided multi-robot cooperative transport, where each robot grounds natural-language instructions from onboard camera observations. A key challenge in this decentralized setting is perceptual…

This paper considers the problem of cooperative localization (CL) using inter-robot measurements for a group of networked robots with limited on-board resources. We propose a novel recursive algorithm in which each robot localizes itself in…

Collaborative mapping of unknown environments can be done faster and more robustly than a single robot. However, a collaborative approach requires a distributed paradigm to be scalable and deal with communication issues. This work presents…

Cooperative multi-robot missions often require teams of robots to traverse environments where traversal risk evolves due to adversary patrols or shifting hazards with stochastic dynamics. While support coordination--where robots assist…

Multi-robot navigation is the task of finding trajectories for a team of robotic agents to reach their destinations as quickly as possible without collisions. In this work, we introduce a new problem: fair-delay multi-robot navigation,…

In order to enable robust operation in unstructured environments, robots should be able to generalize manipulation actions to novel object instances. For example, to pour and serve a drink, a robot should be able to recognize novel…

In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…

In our prior work, we outlined an approach, named DisCoF, for cooperative pathfinding in distributed systems with limited sensing and communication range. Contrasting to prior works on cooperative pathfinding with completeness guarantees,…

This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…