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Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration

Oct 08, 2021
Michael T. Ohradzansky, Eugene R. Rush, Danny G. Riley, Andrew B. Mills, Shakeeb Ahmad, Steve McGuire, Harel Biggie, Kyle Harlow, Michael J. Miles, Eric W. Frew, Christoffer Heckman, J. Sean Humbert

* 39 pages, 21 figures, Field Robotics special issue: Advancements and lessons learned during Phase I & II of the DARPA Subterranean Challenge 

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ColoRadar: The Direct 3D Millimeter Wave Radar Dataset

Mar 08, 2021
Andrew Kramer, Kyle Harlow, Christopher Williams, Christoffer Heckman

* 8 pages, 7 figures, 3863 words, also submitted to IJRR 

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Unsupervised Metric Relocalization Using Transform Consistency Loss

Nov 01, 2020
Mike Kasper, Fernando Nobre, Christoffer Heckman, Nima Keivan

* Accepted for publication in the 4th Conference on Robot Learning (CoRL 2020), Cambridge MA, USA 

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Cooperative Control of Mobile Robots with Stackelberg Learning

Aug 03, 2020
Joewie J. Koh, Guohui Ding, Christoffer Heckman, Lijun Chen, Alessandro Roncone

* Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
* 8 pages, 7 figures 

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Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps

Aug 02, 2020
Samuel Bateman, Kyle Harlow, Christoffer Heckman

* Accepted as Contributed Paper at IROS 2020 

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Formalizing and Guaranteeing* Human-Robot Interaction

Jun 30, 2020
Hadas Kress-Gazit, Kerstin Eder, Guy Hoffman, Henny Admoni, Brenna Argall, Ruediger Ehlers, Christoffer Heckman, Nils Jansen, Ross Knepper, Jan Křetínský, Shelly Levy-Tzedek, Jamy Li, Todd Murphey, Laurel Riek, Dorsa Sadigh

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Distributed Reinforcement Learning for Cooperative Multi-Robot Object Manipulation

Mar 21, 2020
Guohui Ding, Joewie J. Koh, Kelly Merckaert, Bram Vanderborght, Marco M. Nicotra, Christoffer Heckman, Alessandro Roncone, Lijun Chen

* Proceedings of the 19th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2020 
* 3 pages, 3 figures 

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Kalman Filter Tuning with Bayesian Optimization

Dec 17, 2019
Zhaozhong Chen, Nisar Ahmed, Simon Julier, Christoffer Heckman

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FastCal: Robust Online Self-Calibration for Robotic Systems

Feb 27, 2019
Fernando Nobre, Christoffer Heckman

* 14 pages, 7 figures, originally presented at International Symposium on Experimental Robotics 2018 in Buenos Aires, Argentina 

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Extrinisic Calibration of a Camera-Arm System Through Rotation Identification

Dec 19, 2018
Steve McGuire, Christoffer Heckman, Daniel Szafir, Simon Julier, Nisar Ahmed

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Path-Following through Control Funnel Functions

Aug 02, 2018
Hadi Ravanbakhsh, Sina Aghli, Christoffer Heckman, Sriram Sankaranarayanan

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Weak in the NEES?: Auto-tuning Kalman Filters with Bayesian Optimization

Jul 23, 2018
Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar Ahmed

* Final version presented at FUSION 2018 Conference, Cambridge, UK, July 2018 (submitted June 1, 2018) 

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Materials that make robots smart

Dec 29, 2017
Nikolaus Correll, Christoffer Heckman

* International Symposium on Robotics Research (ISRR), December, 2017 

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Hidden Markov Random Field Iterative Closest Point

Nov 07, 2017
John Stechschulte, Christoffer Heckman

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Light Source Estimation with Analytical Path-tracing

Jan 15, 2017
Mike Kasper, Nima Keivan, Gabe Sibley, Christoffer Heckman

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