ROSE: Robust State Estimation via Online Covariance Adaption

Autor: Seyed Fakoorian, Kyohei Otsu, Shehryar Khattak, Matteo Palieri, Ali-akbar Agha-mohammadi

Publikováno v: Springer Proceedings in Advanced Robotics ISBN: 9783031255540

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::e03644a896a050280af792e2303ffe24
https://doi.org/10.1007/978-3-031-25555-7_31

NeBula: Team CoSTAR's robotic autonomy solution that won phase II of DARPA Subterranean Challenge

Autor: Ali Agha, Kyohei Otsu, Benjamin Morrell, David Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry Leopold, Hov Melikyan, Hyungho Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick

Publikováno v: Journal of Field Robotics 2: 1432-1506 (2022).

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: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::fe888e5b3feed8aec3995e3b7f68cd8c
http://hdl.handle.net/10261/305048

DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments

Autor: Curtis Padgett, Sally L. Wood, Ali-akbar Agha-mohammadi, Matteo Palieri, Kamak Ebadi

Enabling fully autonomous robots capable of navigating and exploring large-scale, unknown and complex environments has been at the core of robotics research for several decades. A key requirement in autonomous exploration is building accurate and con

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5f99012faa5c6efadd2e3a86a6324208
http://arxiv.org/abs/2102.05117

Maximum Correntropy Kalman Filter for Orientation Estimation With Application to LiDAR Inertial Odometry

Autor: Ali-akbar Agha-mohammadi, Seyed Abolfazl Fakoorian, Dan Simon, Cataldo Guaragnella, Matteo Palieri, Angel Santamaria-Navarro

Publikováno v: Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions.

Accurate attitude estimation using low-cost sensors is an important capability to enable many robotic applications. In this paper, we present a method based on the concept of correntropy in Kalman filtering to estimate the 3D orientation of a rigid b

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5e4f2cb50fb722c46033dca536f96d87
https://doi.org/10.1115/dscc2020-3256

Corrections to 'LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time' [Apr 21 421-428]

Autor: Benjamin Morrell, Matteo Palieri, Ali-akbar Agha-mohammadi, Cataldo Guaragnella, Christoforos Kanellakis, Jeremy Nash, Kamak Ebadi, Arghya Chatterjee, Abhishek Thakur, Luca Carlone

Publikováno v: IEEE Robotics and Automation Letters. 6:3760-3760

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::d0b19c0c52bee8e5661f9345f141b92d
https://doi.org/10.1109/lra.2021.3062780