Zobrazeno 1 - 10
of 55
pro vyhledávání: '"Lopez, Brett"'
Autor:
Thorne, David, Chan, Nathan, Ma, Yanlong, Robison, Christa S., Osteen, Philip R., Lopez, Brett T.
Keyframes are LiDAR scans saved for future reference in Simultaneous Localization And Mapping (SLAM), but despite their central importance most algorithms leave choices of which scans to save and how to use them to wasteful heuristics. This work prop
Externí odkaz:
http://arxiv.org/abs/2410.05576
Autor:
Dong, Zihao, Pflueger, Jeff, Jung, Leonard, Thorne, David, Osteen, Philip R., Robison, Christa S., Lopez, Brett T., Everett, Michael
SLAM is an important capability for many autonomous systems, and modern LiDAR-based methods offer promising performance. However, for long duration missions, existing works that either operate directly the full pointclouds or on extracted features fa
Externí odkaz:
http://arxiv.org/abs/2410.02961
Autor:
Lopez, Brett T., Slotine, Jean-Jacques
We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting the adaptation gains of individual unmatched parameters whose adaptation transients would otherwise desta
Externí odkaz:
http://arxiv.org/abs/2311.05082
Autor:
Gessow, Samuel G., Lopez, Brett T.
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The approach uti
Externí odkaz:
http://arxiv.org/abs/2310.13655
Multi-Robot Task Assignment and Path Finding for Time-Sensitive Missions with Online Task Generation
Autor:
Thorne, David, Lopez, Brett T.
Executing time-sensitive multi-robot missions involves two distinct problems: Multi-Robot Task Assignment (MRTA) and Multi-Agent Path Finding (MAPF). Computing safe paths that complete every task and minimize the time to mission completion, or makesp
Externí odkaz:
http://arxiv.org/abs/2310.06153
This paper presents Direct LiDAR-Inertial Odometry and Mapping (DLIOM), a robust SLAM algorithm with an explicit focus on computational efficiency, operational reliability, and real-world efficacy. DLIOM contains several key algorithmic innovations i
Externí odkaz:
http://arxiv.org/abs/2305.01843
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity. Accelerometer bias
Externí odkaz:
http://arxiv.org/abs/2303.03505
Autor:
Lopez, Brett T.
This work presents a contracting hierarchical observer that fuses position and orientation measurements with an IMU to generate smooth position, linear velocity, orientation, and IMU bias estimates that are guaranteed to converge to their true values
Externí odkaz:
http://arxiv.org/abs/2303.02777
Autor:
Bouman, Amanda, Ott, Joshua, Kim, Sung-Kyun, Chen, Kenny, Kochenderfer, Mykel J., Lopez, Brett, Agha-mohammadi, Ali-akbar, Burdick, Joel
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated area swep
Externí odkaz:
http://arxiv.org/abs/2302.03164
Autor:
Lopez, Brett T., Slotine, Jean-Jacques
This work applies universal adaptive control to control barrier functions to achieve forward invariance of a safe set despite the presence of unmatched parametric uncertainties. The approach combines two ideas. The first is to construct a family of c
Externí odkaz:
http://arxiv.org/abs/2207.13873