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ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity


Jun 05, 2022
Maira Saboia, Lillian Clark, Vivek Thangavelu, Jeffrey A. Edlund, Kyohei Otsu, Gustavo J. Correa, Vivek Shankar Varadharajan, Angel Santamaria-Navarro, Thomas Touma, Amanda Bouman, Hovhannes Melikyan, Torkom Pailevanian, Sung-Kyun Kim, Avak Archanian, Tiago Stegun Vaquero, Giovanni Beltrame, Nils Napp, Gustavo Pessin, Ali-akbar Agha-mohammadi

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* 8 pages, 8 figures 

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Full-Body Torque-Level Non-linear Model Predictive Control for Aerial Manipulation


Jul 08, 2021
Josep Martí-Saumell, Joan Solà, Angel Santamaria-Navarro, Juan Andrade-Cetto

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* Submitted to Transactions on Robotics. 17 pages, 16 figures 

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Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors


Mar 29, 2021
Seyed Fakoorian, Angel Santamaria-Navarro, Brett T. Lopez, Dan Simon, Ali-akbar Agha-mohammadi

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NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge


Mar 28, 2021
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun 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, Yuki Kubo, 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 A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick

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* For team website, see https://costar.jpl.nasa.gov/ 

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LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments


Feb 05, 2021
Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai, Angel Santamaria-Navarro, Jonathan P. How, Luca Carlone, Ali-akbar Agha-mohammadi

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* 2020 International Symposium on Experimental Robotics (ISER 2020) 

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Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments


Oct 31, 2020
Yasin Almalioglu, Angel Santamaria-Navarro, Benjamin Morrell, Ali-akbar Agha-mohammadi

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* Submitted to ICRA2021 

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Towards Resilient Autonomous Navigation of Drones


Aug 21, 2020
Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-akbar Agha-mohammadi

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* In International Symposium on Robotics Research (ISRR) 2019 

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Multi-task closed-loop inverse kinematics stability through semidefinite programming


Apr 23, 2020
Josep Marti-Saumell, Angel Santamaria-Navarro, Carlos Ocampo-Martinez, Juan Andrade-Cetto

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* Accepted to ICRA2020 

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Contact Inertial Odometry: Collisions are your Friend


Aug 30, 2019
Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-akbar Agha-mohammadi

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* In International Symposium on Robotics Research (ISRR) 2019 

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