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ALITA: A Large-scale Incremental Dataset for Long-term Autonomy



Peng Yin , Shiqi Zhao , Ruohai Ge , Ivan Cisneros , Ruijie Fu , Ji Zhang , Howie Choset , Sebastian Scherer

* 4 pages, 2 figures 

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Design of a Biomimetic Tactile Sensor for Material Classification



Kevin Dai , Xinyu Wang , Allison M. Rojas , Evan Harber , Yu Tian , Nicholas Paiva , Joseph Gnehm , Evan Schindewolf , Howie Choset , Victoria A. Webster-Wood , Lu Li

* To be published in ICRA 2022 

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Enhanced Multi-Objective A* Using Balanced Binary Search Trees



Zhongqiang Ren , Sivakumar Rathinam , Maxim Likhachev , Howie Choset


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A Lower Bounding Framework for Motion Planning amid Dynamic Obstacles in 2D



Zhongqiang Ren , Sivakumar Rathinam , Howie Choset


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Generalized Omega Turn Gait Enables Agile Limbless Robot Turning in Complex Environments



Tianyu Wang , Baxi Chong , Yuelin Deng , Ruijie Fu , Howie Choset , Daniel I. Goldman

* Accepted to ICRA 2022 

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Learning Cooperative Multi-Agent Policies with Partial Reward Decoupling



Benjamin Freed , Aditya Kapoor , Ian Abraham , Jeff Schneider , Howie Choset

* in IEEE Robotics and Automation Letters 

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A general locomotion control framework for serially connected multi-legged robots



Baxi Chong , Yasemin O. Aydin , Jennifer M. Rieser , Guillaume Sartoretti , Tianyu Wang , Julian Whitman , Abdul Kaba , Enes Aydin , Ciera McFarland , Howie Choset , Daniel I. Goldman


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Autonomous Exploration Development Environment and the Planning Algorithms



Chao Cao , Hongbiao Zhu , Fan Yang , Yukun Xia , Howie Choset , Jean Oh , Ji Zhang


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Subdimensional Expansion Using Attention-Based Learning For Multi-Agent Path Finding



Lakshay Virmani , Zhongqiang Ren , Sivakumar Rathinam , Howie Choset

* 7 pages 

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The Geometric Structure of Externally Actuated Planar Locomoting Systems in Ambient Media



Blake Buchanan , Tony Dear , Scott Kelly , Matthew Travers , Howie Choset


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