Zobrazeno 1 - 8
of 8
pro vyhledávání: '"Alatur, Nikhilesh"'
From construction materials, such as sand or asphalt, to kitchen ingredients, like rice, sugar, or salt; the world is full of granular materials. Despite impressive progress in robotic manipulation, manipulating and interacting with granular material
Externí odkaz:
http://arxiv.org/abs/2303.17047
Autor:
Pantic, Michael, Meijer, Isar, Bähnemann, Rik, Alatur, Nikhilesh, Andersson, Olov, Lerma, Cesar Cadena, Siegwart, Roland, Ott, Lionel
In this paper, we present a novel method for using Riemannian Motion Policies on volumetric maps, shown in the example of obstacle avoidance for Micro Aerial Vehicles (MAVs). While sampling or optimization-based planners are widely used for obstacle
Externí odkaz:
http://arxiv.org/abs/2301.08068
Autor:
Cramariuc, Andrei, Tschopp, Florian, Alatur, Nikhilesh, Benz, Stefan, Falck, Tillmann, Bruehlmeier, Marius, Hahn, Benjamin, Nieto, Juan, Siegwart, Roland
Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which allow a geomet
Externí odkaz:
http://arxiv.org/abs/2107.14715
Autor:
Agha, Ali, Otsu, Kyohei, Morrell, Benjamin, Fan, David D., Thakker, Rohan, Santamaria-Navarro, Angel, Kim, Sung-Kyun, Bouman, Amanda, Lei, Xianmei, Edlund, Jeffrey, Ginting, Muhammad Fadhil, Ebadi, Kamak, Anderson, Matthew, Pailevanian, Torkom, Terry, Edward, Wolf, Michael, Tagliabue, Andrea, Vaquero, Tiago Stegun, Palieri, Matteo, Tepsuporn, Scott, Chang, Yun, Kalantari, Arash, Chavez, Fernando, Lopez, Brett, Funabiki, Nobuhiro, Miles, Gregory, Touma, Thomas, Buscicchio, Alessandro, Tordesillas, Jesus, Alatur, Nikhilesh, Nash, Jeremy, Walsh, William, Jung, Sunggoo, Lee, Hanseob, Kanellakis, Christoforos, Mayo, John, Harper, Scott, Kaufmann, Marcel, Dixit, Anushri, Correa, Gustavo, Lee, Carlyn, Gao, Jay, Merewether, Gene, Maldonado-Contreras, Jairo, Salhotra, Gautam, Da Silva, Maira Saboia, Ramtoula, Benjamin, Kubo, Yuki, Fakoorian, Seyed, Hatteland, Alexander, Kim, Taeyeon, Bartlett, Tara, Stephens, Alex, Kim, Leon, Bergh, Chuck, Heiden, Eric, Lew, Thomas, Cauligi, Abhishek, Heywood, Tristan, Kramer, Andrew, Leopold, Henry A., Choi, Chris, Daftry, Shreyansh, Toupet, Olivier, Wee, Inhwan, Thakur, Abhishek, Feras, Micah, Beltrame, Giovanni, Nikolakopoulos, George, Shim, David, Carlone, Luca, Burdick, Joel
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques uti
Externí odkaz:
http://arxiv.org/abs/2103.11470
Autor:
Thakker, Rohan, Alatur, Nikhilesh, Fan, David D., Tordesillas, Jesus, Paton, Michael, Otsu, Kyohei, Toupet, Olivier, Agha-mohammadi, Ali-akbar
We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffs and holes, and
Externí odkaz:
http://arxiv.org/abs/2101.11110
Autor:
Bouman, Amanda, Ginting, Muhammad Fadhil, Alatur, Nikhilesh, Palieri, Matteo, Fan, David D., Touma, Thomas, Pailevanian, Torkom, Kim, Sung-Kyun, Otsu, Kyohei, Burdick, Joel, Agha-mohammadi, Ali-akbar
This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme environments, particularly those involved in the DARPA Subterranean Challenge, this pa
Externí odkaz:
http://arxiv.org/abs/2010.09259
Autor:
Fan, David D., Nguyen, Jennifer, Thakker, Rohan, Alatur, Nikhilesh, Agha-mohammadi, Ali-akbar, Theodorou, Evangelos A.
Publikováno v:
IEEE International Conference on Robotics and Automation (ICRA) 2020 May 31 (pp. 4093-4099)
Deep learning has enjoyed much recent success, and applying state-of-the-art model learning methods to controls is an exciting prospect. However, there is a strong reluctance to use these methods on safety-critical systems, which have constraints on
Externí odkaz:
http://arxiv.org/abs/1910.02325
Autor:
Funk, Niklas, Alatur, Nikhilesh, Deuber, Robin, Gonon, Frederick, Messikommer, Nico, Nubert, Julian, Patriarca, Moritz, Schaefer, Simon, Scotoni, Dominic, Bünger, Nicholas, Dube, Renaud, Khanna, Raghav, Pfeiffer, Mark, Wilhelm, Erik, Siegwart, Roland
Autonomous driving and electric vehicles are nowadays very active research and development areas. In this paper we present the conversion of a standard Kyburz eRod into an autonomous vehicle that can be operated in challenging environments such as Sw
Externí odkaz:
http://arxiv.org/abs/1711.00548