Publications : Vijay Kumar Lab

Publications : Vijay Kumar Lab
Research
Current Projects
Past Projects
Videos
Publications
Education
Teaching
Outreach
Y-Prize
Group
Dr. Vijay Kumar
Current Members
Alumni
News
Contact
Publications
Current Projects
Past Projects
Videos
Publications
666 entries
1 of 14
2022
666.
Mox, Daniel; Kumar, Vijay; Ribeiro, Alejandro
Learning Connectivity-Maximizing Network Configurations
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 7,
no. 2,
pp. 5552-5559,
2022
Links
BibTeX
@article{9695258,
title = {Learning Connectivity-Maximizing Network Configurations},
author = {Daniel Mox and Vijay Kumar and Alejandro Ribeiro},
doi = {10.1109/LRA.2022.3146524},
year = {2022},
date = {2022-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {7},
number = {2},
pages = {5552-5559},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
doi:10.1109/LRA.2022.3146524
Close
665.
Mayya, Siddharth; Ramachandran, Ragesh K.; Zhou, Lifeng; Senthil, Vinay; Thakur, Dinesh; Sukhatme, Gaurav S.; Kumar, Vijay
Adaptive and Risk-Aware Target Tracking for Robot Teams With Heterogeneous Sensors
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 7,
no. 2,
pp. 5615-5622,
2022
Links
BibTeX
@article{9726858,
title = {Adaptive and Risk-Aware Target Tracking for Robot Teams With Heterogeneous Sensors},
author = {Siddharth Mayya and Ragesh K. Ramachandran and Lifeng Zhou and Vinay Senthil and Dinesh Thakur and Gaurav S. Sukhatme and Vijay Kumar},
doi = {10.1109/LRA.2022.3155805},
year = {2022},
date = {2022-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {7},
number = {2},
pages = {5615-5622},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
doi:10.1109/LRA.2022.3155805
Close
664.
Liu, Xu; Nardari, Guilherme V.; Ojeda, Fernando Cladera; Tao, Yuezhan; Zhou, Alex; Donnelly, Thomas; Qu, Chao; Chen, Steven W.; Romero, Roseli A. F.; Taylor, Camillo J.; Kumar, Vijay
Large-Scale Autonomous Flight With Real-Time Semantic SLAM Under Dense Forest Canopy
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 7,
no. 2,
pp. 5512-5519,
2022
Links
BibTeX
@article{XL:GN:FC:22,
title = {Large-Scale Autonomous Flight With Real-Time Semantic SLAM Under Dense Forest Canopy},
author = {Xu Liu and Guilherme V. Nardari and Fernando Cladera Ojeda and Yuezhan Tao and Alex Zhou and Thomas Donnelly and Chao Qu and Steven W. Chen and Roseli A. F. Romero and Camillo J. Taylor and Vijay Kumar},
doi = {10.1109/LRA.2022.3154047},
year = {2022},
date = {2022-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {7},
number = {2},
pages = {5512-5519},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
doi:10.1109/LRA.2022.3154047
Close
663.
Jarin-lipschitz, Laura; Liu, Xu; Tao, Yuezhan; Kumar, Vijay
Experiments in Adaptive Replanning for Fast Autonomous Flight in Forests
Proceedings Article
In:
IEEE International Conference on Robotics and Automation,
2022
Abstract
BibTeX
@inproceedings{Jarin-lipschitz,
title = {Experiments in Adaptive Replanning for Fast Autonomous Flight in Forests},
author = {Laura Jarin-lipschitz and Xu Liu and Yuezhan Tao and Vijay Kumar},
year = {2022},
date = {2022-01-01},
booktitle = {IEEE International Conference on Robotics and Automation},
abstract = {Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it re- quires the robot to compute new plans in real-time on a computationally-constrained platform. In this paper, we enable this capability with a search-based planning framework that adapts sampling density in real-time to find dynamically- feasible plans while remaining computationally tractable. A paramount challenge in search-based planning is that dense obstacles both necessitate large graphs (to guarantee complete- ness) and reduce the efficiency of graph search (as heuristics become less accurate). To address this, we develop a planning framework with two parts: one that maximizes planner com- pleteness for a given graph size, and a second that dynamically maximizes graph size subject to computational constraints. This framework is enabled by motion planning graphs that are defined by a single parameter—dispersion—which quantifies the maximum trajectory cost to reach an arbitrary state from the graph. We show through real and simulated experiments how the dispersion can be adapted to different environments in real time, allowing operation in environments with varying density. The simulated experiment demonstrates improved performance over a baseline search-based planning algorithm. We also demonstrate flight speeds of up to 2.5m/s in real-world cluttered pine forests},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
Close
Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it re- quires the robot to compute new plans in real-time on a computationally-constrained platform. In this paper, we enable this capability with a search-based planning framework that adapts sampling density in real-time to find dynamically- feasible plans while remaining computationally tractable. A paramount challenge in search-based planning is that dense obstacles both necessitate large graphs (to guarantee complete- ness) and reduce the efficiency of graph search (as heuristics become less accurate). To address this, we develop a planning framework with two parts: one that maximizes planner com- pleteness for a given graph size, and a second that dynamically maximizes graph size subject to computational constraints. This framework is enabled by motion planning graphs that are defined by a single parameter—dispersion—which quantifies the maximum trajectory cost to reach an arbitrary state from the graph. We show through real and simulated experiments how the dispersion can be adapted to different environments in real time, allowing operation in environments with varying density. The simulated experiment demonstrates improved performance over a baseline search-based planning algorithm. We also demonstrate flight speeds of up to 2.5m/s in real-world cluttered pine forests
Close
662.
Sun, Ke; Chaves, Stephen; Martin, Paul; Kumar, Vijay
RTGNN: A Novel Approach to Model Stochastic Traffic Dynamics
Miscellaneous
2022
BibTeX
@misc{sun2022rtgnn,
title = {RTGNN: A Novel Approach to Model Stochastic Traffic Dynamics},
author = {Ke Sun and Stephen Chaves and Paul Martin and Vijay Kumar},
year = {2022},
date = {2022-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
Close
661.
Mox, Daniel; Kumar, Vijay; Ribeiro, Alejandro
Learning Connectivity-Maximizing Network Configurations
Journal Article
In:
IEEE Robotics and Automation Letters,
pp. 1-1,
2022
Links
BibTeX
@article{DM:AR:22,
title = {Learning Connectivity-Maximizing Network Configurations},
author = {Daniel Mox and Vijay Kumar and Alejandro Ribeiro},
doi = {10.1109/LRA.2022.3146524},
year = {2022},
date = {2022-01-01},
journal = {IEEE Robotics and Automation Letters},
pages = {1-1},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
doi:10.1109/LRA.2022.3146524
Close
660.
Liu, Xu; Chen, Steven W.; Nardari, Guilherme V.; Qu, Chao; Ojeda, Fernando Cladera; Taylor, Camillo J.; Kumar, Vijay
Challenges and Opportunities for Autonomous Micro-UAVs in Precision Agriculture
Journal Article
In:
IEEE Micro,
vol. 42,
no. 1,
pp. 61-68,
2022
Links
BibTeX
@article{9705188,
title = {Challenges and Opportunities for Autonomous Micro-UAVs in Precision Agriculture},
author = {Xu Liu and Steven W. Chen and Guilherme V. Nardari and Chao Qu and Fernando Cladera Ojeda and Camillo J. Taylor and Vijay Kumar},
doi = {10.1109/MM.2021.3134744},
year = {2022},
date = {2022-01-01},
journal = {IEEE Micro},
volume = {42},
number = {1},
pages = {61-68},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
doi:10.1109/MM.2021.3134744
Close
659.
Chen, Steven W; Wang, Tianyu; Atanasov, Nikolay; Kumar, Vijay; Morari, Manfred
Large scale model predictive control with neural networks and primal active sets
Journal Article
In:
Automatica,
vol. 135,
pp. 109947,
2022
BibTeX
@article{chen2022large,
title = {Large scale model predictive control with neural networks and primal active sets},
author = {Steven W Chen and Tianyu Wang and Nikolay Atanasov and Vijay Kumar and Manfred Morari},
year = {2022},
date = {2022-01-01},
journal = {Automatica},
volume = {135},
pages = {109947},
publisher = {Pergamon},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
2021
658.
Welde, J.; Paulos, J.; Kumar, V.
Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 6,
no. 2,
pp. 3232-3239,
2021
ISSN: 2377-3766
Abstract
Links
BibTeX
@article{JW:JP:21,
title = {Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators},
author = {J. Welde and J. Paulos and V. Kumar},
doi = {10.1109/LRA.2021.3051572},
issn = {2377-3766},
year = {2021},
date = {2021-04-01},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {3232-3239},
abstract = {In this work, we address the problem of planning dynamically feasible trajectories for underactuated aerial manipulators to achieve a desired trajectory for the end effector. We consider a quadrotor equipped with an arbitrary n-joint articulated arm. We show that the combined underactuated system is differentially flat, however the flat outputs do not correspond directly to the motion of the end effector. We therefore develop a method which determines the family of flat output trajectories which will exactly produce any desired task trajectory, even in the case of dynamic maneuvers. We also give criteria on the manipulator geometry which will ensure certain important stability properties, informing hardware design. The entire approach is demonstrated in simulation for systems of varying geometry and number of joints. The simultaneous resolution of the kinematic and dynamic constraints allows these tasks to be performed dynamically without sacrificing accuracy.},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
In this work, we address the problem of planning dynamically feasible trajectories for underactuated aerial manipulators to achieve a desired trajectory for the end effector. We consider a quadrotor equipped with an arbitrary n-joint articulated arm. We show that the combined underactuated system is differentially flat, however the flat outputs do not correspond directly to the motion of the end effector. We therefore develop a method which determines the family of flat output trajectories which will exactly produce any desired task trajectory, even in the case of dynamic maneuvers. We also give criteria on the manipulator geometry which will ensure certain important stability properties, informing hardware design. The entire approach is demonstrated in simulation for systems of varying geometry and number of joints. The simultaneous resolution of the kinematic and dynamic constraints allows these tasks to be performed dynamically without sacrificing accuracy.
Close
doi:10.1109/LRA.2021.3051572
Close
657.
Malencia, M.; Kumar, V.; Pappas, G.; Prorok, A.
Fair Robust Assignment Using Redundancy
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 6,
no. 2,
pp. 4217-4224,
2021
ISSN: 2377-3766
Links
BibTeX
@article{MM:GP:AP:2021,
title = {Fair Robust Assignment Using Redundancy},
author = {M. Malencia and V. Kumar and G. Pappas and A. Prorok},
doi = {10.1109/LRA.2021.3067283},
issn = {2377-3766},
year = {2021},
date = {2021-04-01},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {4217-4224},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
doi:10.1109/LRA.2021.3067283
Close
656.
Tolstaya, Ekaterina; Paulos, James; Kumar, Vijay; Ribeiro, Alejandro
Multi-Robot Coverage and Exploration using Spatial Graph Neural Networks
Proceedings Article
In:
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
pp. 8944-8950,
2021
Links
BibTeX
@inproceedings{9636675,
title = {Multi-Robot Coverage and Exploration using Spatial Graph Neural Networks},
author = {Ekaterina Tolstaya and James Paulos and Vijay Kumar and Alejandro Ribeiro},
doi = {10.1109/IROS51168.2021.9636675},
year = {2021},
date = {2021-01-01},
booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {8944-8950},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
Close
doi:10.1109/IROS51168.2021.9636675
Close
655.
Tolstaya, Ekaterina; Butler, Landon; Mox, Daniel; Paulos, James; Kumar, Vijay; Ribeiro, Alejandro
Learning Connectivity for Data Distribution in Robot Teams
Proceedings Article
In:
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
pp. 413-420,
2021
Links
BibTeX
@inproceedings{9636873,
title = {Learning Connectivity for Data Distribution in Robot Teams},
author = {Ekaterina Tolstaya and Landon Butler and Daniel Mox and James Paulos and Vijay Kumar and Alejandro Ribeiro},
doi = {10.1109/IROS51168.2021.9636873},
year = {2021},
date = {2021-01-01},
booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {413-420},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
Close
doi:10.1109/IROS51168.2021.9636873
Close
654.
Thakur, Dinesh; Tao, Yuezhan; Li, Rebecca; Zhou, Alex; Kushleyev, Alex; Kumar, Vijay
Swarm of Inexpensive Heterogeneous Micro Aerial Vehicles
Proceedings Article
In:
Siciliano, Bruno; Laschi, Cecilia; Khatib, Oussama (Ed.):
Experimental Robotics,
pp. 413–423,
Springer International Publishing,
Cham,
2021
ISBN: 978-3-030-71151-1
Abstract
BibTeX
@inproceedings{10.1007/978-3-030-71151-1_37,
title = {Swarm of Inexpensive Heterogeneous Micro Aerial Vehicles},
author = {Dinesh Thakur and Yuezhan Tao and Rebecca Li and Alex Zhou and Alex Kushleyev and Vijay Kumar},
editor = {Bruno Siciliano and Cecilia Laschi and Oussama Khatib},
isbn = {978-3-030-71151-1},
year = {2021},
date = {2021-01-01},
booktitle = {Experimental Robotics},
pages = {413--423},
publisher = {Springer International Publishing},
address = {Cham},
abstract = {Ä team of Micro Aerial Vehicles (MAVs), or a Swarm, is theoretically able to accomplish more complex tasks than a single robot by covering more area, gathering more data, and ensuring resilience to single-robot failure."},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
Close
Ä team of Micro Aerial Vehicles (MAVs), or a Swarm, is theoretically able to accomplish more complex tasks than a single robot by covering more area, gathering more data, and ensuring resilience to single-robot failure."
Close
653.
Jarin-Lipschitz, Laura; Paulos, James; Bjorkman, Raymond; Kumar, Vijay
Dispersion-Minimizing Motion Primitives for Search-Based Motion Planning
Proceedings Article
In:
IEEE International Conference on Robotics And Automation,
pp. 12625–12631,
2021
Abstract
Links
BibTeX
@inproceedings{Jarin-Lipschitz2021,
title = {Dispersion-Minimizing Motion Primitives for Search-Based Motion Planning},
author = {Laura Jarin-Lipschitz and James Paulos and Raymond Bjorkman and Vijay Kumar},
url = {http://arxiv.org/abs/2103.14603},
doi = {10.1109/icra48506.2021.9561840},
year = {2021},
date = {2021-01-01},
booktitle = {IEEE International Conference on Robotics And Automation},
pages = {12625--12631},
abstract = {Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weight, and power-constrained platforms in unstructured environments. However, optimal design of the motion planning graph, while crucial to the performance of the planner, has not been a main focus of prior work. This paper proposes to address this by introducing a method of choosing vertices and edges in a motion primitive graph that is grounded in sampling theory and leads to theoretical guarantees on planner completeness. By minimizing dispersion of the graph vertices in the metric space induced by trajectory cost, we optimally cover the space of feasible trajectories with our motion primitive graph. In comparison with baseline motion primitives defined by uniform input space sampling, our motion primitive graphs have lower dispersion, find a plan with fewer iterations of the graph search, and have only one parameter to tune.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
Close
Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weight, and power-constrained platforms in unstructured environments. However, optimal design of the motion planning graph, while crucial to the performance of the planner, has not been a main focus of prior work. This paper proposes to address this by introducing a method of choosing vertices and edges in a motion primitive graph that is grounded in sampling theory and leads to theoretical guarantees on planner completeness. By minimizing dispersion of the graph vertices in the metric space induced by trajectory cost, we optimally cover the space of feasible trajectories with our motion primitive graph. In comparison with baseline motion primitives defined by uniform input space sampling, our motion primitive graphs have lower dispersion, find a plan with fewer iterations of the graph search, and have only one parameter to tune.
Close
doi:10.1109/icra48506.2021.9561840
Close
652.
Sun, Ke; Kumar, Vijay
Belief Space Planning for Mobile Robots With Range Sensors Using iLQG
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 6,
no. 2,
pp. 1902-1909,
2021
Links
BibTeX
@article{9359470,
title = {Belief Space Planning for Mobile Robots With Range Sensors Using iLQG},
author = {Ke Sun and Vijay Kumar},
doi = {10.1109/LRA.2021.3060716},
year = {2021},
date = {2021-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {1902-1909},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
doi:10.1109/LRA.2021.3060716
Close
651.
Sun, Ke; Schlotfeldt, Brent; Pappas, George J.; Kumar, Vijay
Stochastic Motion Planning Under Partial Observability for Mobile Robots With Continuous Range Measurements
Journal Article
In:
IEEE Transactions on Robotics,
vol. 37,
no. 3,
pp. 979-995,
2021
Links
BibTeX
@article{9306897,
title = {Stochastic Motion Planning Under Partial Observability for Mobile Robots With Continuous Range Measurements},
author = {Ke Sun and Brent Schlotfeldt and George J. Pappas and Vijay Kumar},
doi = {10.1109/TRO.2020.3042129},
year = {2021},
date = {2021-01-01},
journal = {IEEE Transactions on Robotics},
volume = {37},
number = {3},
pages = {979-995},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
doi:10.1109/TRO.2020.3042129
Close
650.
Narayan, Saaketh; Paulos, James; Chen, Steven W.; Manjanna, Sandeep; Kumar, Vijay
Combined Routing and Scheduling of Heterogeneous Transport and Service Agents
Proceedings Article
In:
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
pp. 1466-1472,
2021
Links
BibTeX
@inproceedings{SN:JP:SC:SM:21,
title = {Combined Routing and Scheduling of Heterogeneous Transport and Service Agents},
author = {Saaketh Narayan and James Paulos and Steven W. Chen and Sandeep Manjanna and Vijay Kumar},
doi = {10.1109/IROS51168.2021.9636684},
year = {2021},
date = {2021-01-01},
booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1466-1472},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
Close
doi:10.1109/IROS51168.2021.9636684
Close
649.
Saldana, David; Assunçao, Renato; Hsieh, M Ani; Campos, Mario FM; Kumar, Vijay
Estimating boundary dynamics using robotic sensor networks with pointwise measurements
Journal Article
In:
Autonomous Robots,
vol. 45,
no. 2,
pp. 193–208,
2021
BibTeX
@article{saldana2021estimating,
title = {Estimating boundary dynamics using robotic sensor networks with pointwise measurements},
author = {David Saldana and Renato Assunçao and M Ani Hsieh and Mario FM Campos and Vijay Kumar},
year = {2021},
date = {2021-01-01},
journal = {Autonomous Robots},
volume = {45},
number = {2},
pages = {193--208},
publisher = {Springer US},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
648.
Nguyen, Ty; Miller, Ian D; Cohen, Avi; Thakur, Dinesh; Guru, Arjun; Prasad, Shashank; Taylor, Camillo J; Chaudhari, Pratik; Kumar, Vijay
PennSyn2Real: Training Object Recognition Models without Human Labeling
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 6,
no. 3,
pp. 5032–5039,
2021
BibTeX
@article{nguyen2021pennsyn2real,
title = {PennSyn2Real: Training Object Recognition Models without Human Labeling},
author = {Ty Nguyen and Ian D Miller and Avi Cohen and Dinesh Thakur and Arjun Guru and Shashank Prasad and Camillo J Taylor and Pratik Chaudhari and Vijay Kumar},
year = {2021},
date = {2021-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {3},
pages = {5032--5039},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
647.
Calvo-Fullana, M; Mox, D; Pyattaev, A; Fink, J; Kumar, V; Ribeiro, A
ROS-NetSim: A Framework for the Integration of Robotic and Network Simulators
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 6,
no. 2,
pp. 1120-1127,
2021
Links
BibTeX
@article{Calvo-Fullana-Mox2021,
title = {ROS-NetSim: A Framework for the Integration of Robotic and Network Simulators},
author = {M Calvo-Fullana and D Mox and A Pyattaev and J Fink and V Kumar and A Ribeiro},
doi = {10.1109/LRA.2021.3056347},
year = {2021},
date = {2021-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {1120-1127},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
doi:10.1109/LRA.2021.3056347
Close
646.
Nardari, G V; Cohen, A; Chen, S W; Liu, X; Arcot, V; Romero, R A F; Kumar, V
Place Recognition in Forests With Urquhart Tessellations
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 6,
no. 2,
pp. 279-286,
2021
Links
BibTeX
@article{GN:SC:XL:VK:21,
title = {Place Recognition in Forests With Urquhart Tessellations},
author = {G V Nardari and A Cohen and S W Chen and X Liu and V Arcot and R A F Romero and V Kumar},
doi = {10.1109/LRA.2020.3039217},
year = {2021},
date = {2021-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {279-286},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
doi:10.1109/LRA.2020.3039217
Close
645.
Miller, I D; Cowley, A; Konkimalla, R; Shivakumar, S S; Nguyen, T; Smith, T; Taylor, C J; Kumar, V
Any Way You Look at It: Semantic Crossview Localization and Mapping With LiDAR
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 6,
no. 2,
pp. 2397-2404,
2021
Links
BibTeX
@article{IM:AC:SS:21,
title = {Any Way You Look at It: Semantic Crossview Localization and Mapping With LiDAR},
author = {I D Miller and A Cowley and R Konkimalla and S S Shivakumar and T Nguyen and T Smith and C J Taylor and V Kumar},
doi = {10.1109/LRA.2021.3061332},
year = {2021},
date = {2021-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {2397-2404},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
doi:10.1109/LRA.2021.3061332
Close
2020
644.
Tolstaya, Ekaterina; Gama, Fernando; Paulos, James; Pappas, George; Kumar, Vijay; Ribeiro, Alejandro
Learning decentralized controllers for robot swarms with graph neural networks
Proceedings Article
In:
Conference on Robot Learning,
pp. 671–682,
PMLR
2020
BibTeX
@inproceedings{tolstaya2020learning,
title = {Learning decentralized controllers for robot swarms with graph neural networks},
author = {Ekaterina Tolstaya and Fernando Gama and James Paulos and George Pappas and Vijay Kumar and Alejandro Ribeiro},
year = {2020},
date = {2020-01-01},
booktitle = {Conference on Robot Learning},
pages = {671--682},
organization = {PMLR},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
Close
643.
Khan, Arbaaz; Tolstaya, Ekaterina; Ribeiro, Alejandro; Kumar, Vijay
Graph policy gradients for large scale robot control
Proceedings Article
In:
Conference on Robot Learning,
pp. 823–834,
PMLR
2020
BibTeX
@inproceedings{khan2020graph,
title = {Graph policy gradients for large scale robot control},
author = {Arbaaz Khan and Ekaterina Tolstaya and Alejandro Ribeiro and Vijay Kumar},
year = {2020},
date = {2020-01-01},
booktitle = {Conference on Robot Learning},
pages = {823--834},
organization = {PMLR},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
Close
642.
Welde, Jake; Kumar, Vijay
Coordinate-Free Dynamics and Differential Flatness of a Class of 6DOF Aerial Manipulators
Proceedings Article
In:
2020 IEEE International Conference on Robotics and Automation (ICRA),
pp. 4307-4313,
2020
Links
BibTeX
@inproceedings{9196705,
title = {Coordinate-Free Dynamics and Differential Flatness of a Class of 6DOF Aerial Manipulators},
author = {Jake Welde and Vijay Kumar},
doi = {10.1109/ICRA40945.2020.9196705},
year = {2020},
date = {2020-01-01},
booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {4307-4313},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
Close
doi:10.1109/ICRA40945.2020.9196705
Close
641.
Jarin-Lipschitz, Laura; Li, Rebecca; Nguyen, Ty; Kumar, Vijay; Matni, Nikolai
Robust, perception based control with quadrotors
Proceedings Article
In:
IEEE International Conference on Intelligent Robots and Systems,
pp. 7737–7743,
2020
ISSN: 21530866
Abstract
Links
BibTeX
@inproceedings{Jarin-Lipschitz2020,
title = {Robust, perception based control with quadrotors},
author = {Laura Jarin-Lipschitz and Rebecca Li and Ty Nguyen and Vijay Kumar and Nikolai Matni},
url = {http://arxiv.org/abs/2007.04220},
doi = {10.1109/IROS45743.2020.9341507},
issn = {21530866},
year = {2020},
date = {2020-01-01},
booktitle = {IEEE International Conference on Intelligent Robots and Systems},
pages = {7737--7743},
abstract = {Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state estimation methods such as Visual Inertial Odometry (VIO) drift over time and can cause the system to misbehave. While state estimation error can be corrected with the aid of GPS or motion capture, these complementary sensors are not always available or reliable. Recent work has shown that this issue can be dealt with by synthesizing robust controllers using a data-driven characterization of the perception error, and can bound the system's response to state estimation error using a robustness constraint. We investigate the application of this robust perception-based approach to a quadrotor model using VIO for state estimation and demonstrate the benefits and drawbacks of using this technique in simulation and hardware. Additionally, to make tuning easier, we introduce a new cost function to use in the control synthesis which allows one to take an existing controller and "robustify"it. To the best of our knowledge, this is the first robust perception-based controller implemented in real hardware, as well as one utilizing a datadriven perception model. We believe this as an important step towards safe, robust robots that explicitly account for the inherent dependence between perception and control.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
Close
Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state estimation methods such as Visual Inertial Odometry (VIO) drift over time and can cause the system to misbehave. While state estimation error can be corrected with the aid of GPS or motion capture, these complementary sensors are not always available or reliable. Recent work has shown that this issue can be dealt with by synthesizing robust controllers using a data-driven characterization of the perception error, and can bound the system's response to state estimation error using a robustness constraint. We investigate the application of this robust perception-based approach to a quadrotor model using VIO for state estimation and demonstrate the benefits and drawbacks of using this technique in simulation and hardware. Additionally, to make tuning easier, we introduce a new cost function to use in the control synthesis which allows one to take an existing controller and "robustify"it. To the best of our knowledge, this is the first robust perception-based controller implemented in real hardware, as well as one utilizing a datadriven perception model. We believe this as an important step towards safe, robust robots that explicitly account for the inherent dependence between perception and control.
Close
doi:10.1109/IROS45743.2020.9341507
Close
640.
Sun, Ke; Schlotfeldt, Brent; Chaves, Stephen; Martin, Paul; Mandhyan, Gulshan; Kumar, Vijay
Feedback Enhanced Motion Planning for Autonomous Vehicles
Proceedings Article
In:
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
pp. 2126-2133,
2020
Links
BibTeX
@inproceedings{9340951,
title = {Feedback Enhanced Motion Planning for Autonomous Vehicles},
author = {Ke Sun and Brent Schlotfeldt and Stephen Chaves and Paul Martin and Gulshan Mandhyan and Vijay Kumar},
doi = {10.1109/IROS45743.2020.9340951},
year = {2020},
date = {2020-01-01},
booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {2126-2133},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
Close
doi:10.1109/IROS45743.2020.9340951
Close
639.
Liu, Wenxin; Caruso, David; Ilg, Eddy; Dong, Jing; Mourikis, Anastasios I; Daniilidis, Kostas; Kumar, Vijay; Engel, Jakob
TLIO: Tight Learned Inertial Odometry
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 5,
no. 4,
pp. 5653–5660,
2020
BibTeX
@article{liu2020tlio,
title = {TLIO: Tight Learned Inertial Odometry},
author = {Wenxin Liu and David Caruso and Eddy Ilg and Jing Dong and Anastasios I Mourikis and Kostas Daniilidis and Vijay Kumar and Jakob Engel},
year = {2020},
date = {2020-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {5},
number = {4},
pages = {5653--5660},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
638.
Svacha, James; Paulos, James; Loianno, Giuseppe; Kumar, Vijay
IMU-Based Inertia Estimation for a Quadrotor Using Newton-Euler Dynamics
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 5,
no. 3,
pp. 3861–3867,
2020
BibTeX
@article{svacha2020imu,
title = {IMU-Based Inertia Estimation for a Quadrotor Using Newton-Euler Dynamics},
author = {James Svacha and James Paulos and Giuseppe Loianno and Vijay Kumar},
year = {2020},
date = {2020-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {5},
number = {3},
pages = {3861--3867},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
637.
Lee, Elijah S; Loianno, Giuseppe; Thakur, Dinesh; Kumar, Vijay
Experimental Evaluation and Characterization of Radioactive Source Effects on Robot Visual Localization and Mapping
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 5,
no. 2,
pp. 3259–3266,
2020
BibTeX
@article{lee2020experimental,
title = {Experimental Evaluation and Characterization of Radioactive Source Effects on Robot Visual Localization and Mapping},
author = {Elijah S Lee and Giuseppe Loianno and Dinesh Thakur and Vijay Kumar},
year = {2020},
date = {2020-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {5},
number = {2},
pages = {3259--3266},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
636.
Shishika, Daigo; Paulos, James; Kumar, Vijay
Cooperative team strategies for multi-player perimeter-defense games
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 5,
no. 2,
pp. 2738–2745,
2020
BibTeX
@article{shishika2020cooperative,
title = {Cooperative team strategies for multi-player perimeter-defense games},
author = {Daigo Shishika and James Paulos and Vijay Kumar},
year = {2020},
date = {2020-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {5},
number = {2},
pages = {2738--2745},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
635.
Miller, Ian D; Cladera, Fernando; Cowley, Anthony; Shivakumar, Shreyas S; Lee, Elijah S; Jarin-Lipschitz, Laura; Bhat, Akhilesh; Rodrigues, Neil; Zhou, Alex; Cohen, Avraham; others,
Mine Tunnel Exploration Using Multiple Quadrupedal Robots
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 5,
no. 2,
pp. 2840–2847,
2020
BibTeX
@article{miller2020mine,
title = {Mine Tunnel Exploration Using Multiple Quadrupedal Robots},
author = {Ian D Miller and Fernando Cladera and Anthony Cowley and Shreyas S Shivakumar and Elijah S Lee and Laura Jarin-Lipschitz and Akhilesh Bhat and Neil Rodrigues and Alex Zhou and Avraham Cohen and others},
year = {2020},
date = {2020-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {5},
number = {2},
pages = {2840--2847},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
634.
Watterson, Michael; Liu, Sikang; Sun, Ke; Smith, Trey; Kumar, Vijay
Trajectory optimization on manifolds with applications to quadrotor systems
Journal Article
In:
The International Journal of Robotics Research,
vol. 39,
no. 2-3,
pp. 303–320,
2020
BibTeX
@article{watterson2020trajectory,
title = {Trajectory optimization on manifolds with applications to quadrotor systems},
author = {Michael Watterson and Sikang Liu and Ke Sun and Trey Smith and Vijay Kumar},
year = {2020},
date = {2020-01-01},
journal = {The International Journal of Robotics Research},
volume = {39},
number = {2-3},
pages = {303--320},
publisher = {SAGE Publications Sage UK: London, England},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
633.
Chen, Steven W; Nardari, Guilherme V; Lee, Elijah S; Qu, Chao; Liu, Xu; Romero, Roseli Ap Francelin; Kumar, Vijay
SLOAM: Semantic lidar odometry and mapping for forest inventory
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 5,
no. 2,
pp. 612–619,
2020
BibTeX
@article{chen2020sloam,
title = {SLOAM: Semantic lidar odometry and mapping for forest inventory},
author = {Steven W Chen and Guilherme V Nardari and Elijah S Lee and Chao Qu and Xu Liu and Roseli Ap Francelin Romero and Vijay Kumar},
year = {2020},
date = {2020-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {5},
number = {2},
pages = {612--619},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
632.
Gandhi, Neeraj; na, David Salda; Kumar, Vijay; Phan, Linh Thi Xuan
Self-Reconfiguration in Response to Faults in Modular Aerial Systems
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 5,
no. 2,
pp. 2522–2529,
2020
BibTeX
@article{gandhi2020self,
title = {Self-Reconfiguration in Response to Faults in Modular Aerial Systems},
author = {Neeraj Gandhi and David Salda{~n}a and Vijay Kumar and Linh Thi Xuan Phan},
year = {2020},
date = {2020-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {5},
number = {2},
pages = {2522--2529},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
2019
631.
Tolstaya, Ekaterina; Ribeiro, Alejandro; Kumar, Vijay; Kapoor, Ashish
Inverse Optimal Planning for Air Traffic Control
Proceedings Article
In:
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
pp. 7535-7542,
2019
Links
BibTeX
@inproceedings{8968460,
title = {Inverse Optimal Planning for Air Traffic Control},
author = {Ekaterina Tolstaya and Alejandro Ribeiro and Vijay Kumar and Ashish Kapoor},
doi = {10.1109/IROS40897.2019.8968460},
year = {2019},
date = {2019-01-01},
booktitle = {2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {7535-7542},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
Close
doi:10.1109/IROS40897.2019.8968460
Close
630.
Das, Sambeeta; Hunter, Elizabeth E; DeLateur, Nicholas A; Steager, Edward B; Weiss, Ron; Kumar, Vijay
Cellular expression through morphogen delivery by light activated magnetic microrobots
Journal Article
In:
Journal of Micro-Bio Robotics,
vol. 15,
no. 2,
pp. 79–90,
2019
BibTeX
@article{das2019cellular,
title = {Cellular expression through morphogen delivery by light activated magnetic microrobots},
author = {Sambeeta Das and Elizabeth E Hunter and Nicholas A DeLateur and Edward B Steager and Ron Weiss and Vijay Kumar},
year = {2019},
date = {2019-01-01},
journal = {Journal of Micro-Bio Robotics},
volume = {15},
number = {2},
pages = {79--90},
publisher = {Springer Berlin Heidelberg},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
629.
Saldana, David; Gupta, Parakh M; Kumar, Vijay
Design and control of aerial modules for inflight self-disassembly
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 4,
no. 4,
pp. 3410–3417,
2019
BibTeX
@article{saldana2019design,
title = {Design and control of aerial modules for inflight self-disassembly},
author = {David Saldana and Parakh M Gupta and Vijay Kumar},
year = {2019},
date = {2019-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {4},
number = {4},
pages = {3410--3417},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
628.
Nguyen, Ty; Shivakumar, Shreyas S; Miller, Ian D; Keller, James; Lee, Elijah S; Zhou, Alex; Özaslan, Tolga; Loianno, Giuseppe; Harwood, Joseph H; Wozencraft, Jennifer; others,
Mavnet: An effective semantic segmentation micro-network for MAV-based tasks
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 4,
no. 4,
pp. 3908–3915,
2019
BibTeX
@article{nguyen2019mavnet,
title = {Mavnet: An effective semantic segmentation micro-network for MAV-based tasks},
author = {Ty Nguyen and Shreyas S Shivakumar and Ian D Miller and James Keller and Elijah S Lee and Alex Zhou and Tolga Özaslan and Giuseppe Loianno and Joseph H Harwood and Jennifer Wozencraft and others},
year = {2019},
date = {2019-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {4},
number = {4},
pages = {3908--3915},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
627.
Guerrero-Bonilla, Luis; Kumar, Vijay
Realization of $ r $-Robust Formations in the Plane Using Control Barrier Functions
Journal Article
In:
IEEE Control Systems Letters,
vol. 4,
no. 2,
pp. 343–348,
2019
BibTeX
@article{guerrero2019realization,
title = {Realization of $ r $-Robust Formations in the Plane Using Control Barrier Functions},
author = {Luis Guerrero-Bonilla and Vijay Kumar},
year = {2019},
date = {2019-01-01},
journal = {IEEE Control Systems Letters},
volume = {4},
number = {2},
pages = {343--348},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
626.
Panagou, Dimitra; Turpin, Matthew; Kumar, Vijay
Decentralized Goal Assignment and Safe Trajectory Generation in Multi-Robot Networks via Multiple Lyapunov Functions
Journal Article
In:
IEEE Transactions on Automatic Control,
2019
BibTeX
@article{panagou2019decentralized,
title = {Decentralized Goal Assignment and Safe Trajectory Generation in Multi-Robot Networks via Multiple Lyapunov Functions},
author = {Dimitra Panagou and Matthew Turpin and Vijay Kumar},
year = {2019},
date = {2019-01-01},
journal = {IEEE Transactions on Automatic Control},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
625.
Hunter, Elizabeth E; Steager, Edward B; Hsu, Allen; Wong-Foy, Annjoe; Pelrine, Ron; Kumar, Vijay
Nanoliter fluid handling for microbiology via levitated magnetic microrobots
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 4,
no. 2,
pp. 997–1004,
2019
BibTeX
@article{hunter2019nanoliter,
title = {Nanoliter fluid handling for microbiology via levitated magnetic microrobots},
author = {Elizabeth E Hunter and Edward B Steager and Allen Hsu and Annjoe Wong-Foy and Ron Pelrine and Vijay Kumar},
year = {2019},
date = {2019-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {4},
number = {2},
pages = {997--1004},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
624.
Kan, Xinyue; Thomas, Justin; Teng, Hanzhe; Tanner, Herbert G; Kumar, Vijay; Karydis, Konstantinos
Analysis of ground effect for small-scale UAVs in forward flight
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 4,
no. 4,
pp. 3860–3867,
2019
BibTeX
@article{kan2019analysis,
title = {Analysis of ground effect for small-scale UAVs in forward flight},
author = {Xinyue Kan and Justin Thomas and Hanzhe Teng and Herbert G Tanner and Vijay Kumar and Konstantinos Karydis},
year = {2019},
date = {2019-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {4},
number = {4},
pages = {3860--3867},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
623.
Hwang, Geelsu; Paula, Amauri J; Hunter, Elizabeth E; Liu, Yuan; Babeer, Alaa; Karabucak, Bekir; Stebe, Kathleen; Kumar, Vijay; Steager, Edward; Koo, Hyun
Catalytic antimicrobial robots for biofilm eradication
Journal Article
In:
Science robotics,
vol. 4,
no. 29,
2019
BibTeX
@article{hwang2019catalytic,
title = {Catalytic antimicrobial robots for biofilm eradication},
author = {Geelsu Hwang and Amauri J Paula and Elizabeth E Hunter and Yuan Liu and Alaa Babeer and Bekir Karabucak and Kathleen Stebe and Vijay Kumar and Edward Steager and Hyun Koo},
year = {2019},
date = {2019-01-01},
journal = {Science robotics},
volume = {4},
number = {29},
publisher = {Science Robotics},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
622.
Svacha, James; Loianno, Giuseppe; Kumar, Vijay
Inertial yaw-independent velocity and attitude estimation for high-speed quadrotor flight
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 4,
no. 2,
pp. 1109–1116,
2019
BibTeX
@article{svacha2019inertial,
title = {Inertial yaw-independent velocity and attitude estimation for high-speed quadrotor flight},
author = {James Svacha and Giuseppe Loianno and Vijay Kumar},
year = {2019},
date = {2019-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {4},
number = {2},
pages = {1109--1116},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
621.
Baca, Tomas; Stepan, Petr; Spurny, Vojtech; Hert, Daniel; Penicka, Robert; Saska, Martin; Thomas, Justin; Loianno, Giuseppe; Kumar, Vijay
Autonomous landing on a moving vehicle with an unmanned aerial vehicle
Journal Article
In:
Journal of Field Robotics,
vol. 36,
no. 5,
pp. 874–891,
2019
BibTeX
@article{baca2019autonomous,
title = {Autonomous landing on a moving vehicle with an unmanned aerial vehicle},
author = {Tomas Baca and Petr Stepan and Vojtech Spurny and Daniel Hert and Robert Penicka and Martin Saska and Justin Thomas and Giuseppe Loianno and Vijay Kumar},
year = {2019},
date = {2019-01-01},
journal = {Journal of Field Robotics},
volume = {36},
number = {5},
pages = {874--891},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
620.
Liu, Xu; Chen, Steven W; Liu, Chenhao; Shivakumar, Shreyas S; Das, Jnaneshwar; Taylor, Camillo J; Underwood, James; Kumar, Vijay
Monocular camera based fruit counting and mapping with semantic data association
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 4,
no. 3,
pp. 2296–2303,
2019
BibTeX
@article{liu2019monocular,
title = {Monocular camera based fruit counting and mapping with semantic data association},
author = {Xu Liu and Steven W Chen and Chenhao Liu and Shreyas S Shivakumar and Jnaneshwar Das and Camillo J Taylor and James Underwood and Vijay Kumar},
year = {2019},
date = {2019-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {4},
number = {3},
pages = {2296--2303},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
619.
Kennedy, Monroe; Schmeckpeper, Karl; Thakur, Dinesh; Jiang, Chenfanfu; Kumar, Vijay; Daniilidis, Kostas
Autonomous precision pouring from unknown containers
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 4,
no. 3,
pp. 2317–2324,
2019
BibTeX
@article{kennedy2019autonomous,
title = {Autonomous precision pouring from unknown containers},
author = {Monroe Kennedy and Karl Schmeckpeper and Dinesh Thakur and Chenfanfu Jiang and Vijay Kumar and Kostas Daniilidis},
year = {2019},
date = {2019-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {4},
number = {3},
pages = {2317--2324},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
618.
Spurn`y, Vojtěch; Báča, Tomáš; Saska, Martin; Pěnička, Robert; Krajn'ik, Tomáš; Thomas, Justin; Thakur, Dinesh; Loianno, Giuseppe; Kumar, Vijay
Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles
Journal Article
In:
Journal of Field Robotics,
vol. 36,
no. 1,
pp. 125–148,
2019
BibTeX
@article{spurny2019cooperative,
title = {Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles},
author = {Vojt{ě}ch Spurn{`y} and Tomáš Bá{č}a and Martin Saska and Robert P{ě}ni{č}ka and Tomáš Krajn{'i}k and Justin Thomas and Dinesh Thakur and Giuseppe Loianno and Vijay Kumar},
year = {2019},
date = {2019-01-01},
journal = {Journal of Field Robotics},
volume = {36},
number = {1},
pages = {125--148},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
2018
617.
Weinstein, Aaron; Cho, Adam; Loianno, Giuseppe; Kumar, Vijay
Visual inertial odometry swarm: An autonomous swarm of vision-based quadrotors
Journal Article
In:
IEEE Robotics and Automation Letters,
vol. 3,
no. 3,
pp. 1801–1807,
2018
BibTeX
@article{weinstein2018visual,
title = {Visual inertial odometry swarm: An autonomous swarm of vision-based quadrotors},
author = {Aaron Weinstein and Adam Cho and Giuseppe Loianno and Vijay Kumar},
year = {2018},
date = {2018-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {3},
number = {3},
pages = {1801--1807},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
Close
666 entries
1 of 14
Contact Vijay Kumar Ph.D
Vijay Kumar Lab
Department of Mechanical Engineering and Applied Mechanics
School of Engineering and Applied Science
University of Pennsylvania
Towne 107
, 220 S. 33rd Street
Philadelphia, PA 19104-6315
Lab
GRASP Laboratory at PERCH Pennovation Works
3401 Grays Ferry
Philadelphia, PA 19146
Research
Current Projects
Past Projects
Videos
Publications
Education
Teaching
Outreach
Y-Prize
Group
Dr. Vijay Kumar
Current Members
Alumni
News
Contact
© 2026 Vijay Kumar Lab. All rights reserved. Site By
Academic Web Pages
Top