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Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems


Sep 25, 2021
Amanda Prorok, Matthew Malencia, Luca Carlone, Gaurav S. Sukhatme, Brian M. Sadler, Vijay Kumar


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Certifiable Outlier-Robust Geometric Perception: Exact Semidefinite Relaxations and Scalable Global Optimization


Sep 07, 2021
Heng Yang, Luca Carlone

* 18 pages main text, 10 pages supplementary 

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Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems


Aug 09, 2021
Vishrant Tripathi, Luca Ballotta, Luca Carlone, Eytan Modiano

* accepted at WiOpt 2021 

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Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization


Aug 06, 2021
Antoni Rosinol, Luca Carlone

* 8 pages 

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Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks


Aug 02, 2021
Zachary Ravichandran, Lisa Peng, Nathan Hughes, J. Daniel Griffith, Luca Carlone


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Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems


Jun 28, 2021
Yulun Tian, Yun Chang, Fernando Herrera Arias, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone

* 18 pages, 15 figures 

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STRIDE along Spectrahedral Vertices for Solving Large-Scale Rank-One Semidefinite Relaxations


May 28, 2021
Heng Yang, Ling Liang, Kim-Chuan Toh, Luca Carlone

* 9 pages main context, 2 figures 

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Neural Trees for Learning on Graphs


May 15, 2021
Rajat Talak, Siyi Hu, Lisa Peng, Luca Carlone


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Optimal Pose and Shape Estimation for Category-level 3D Object Perception


May 12, 2021
Jingnan Shi, Heng Yang, Luca Carlone


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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

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

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Dynamic Grasping with a "Soft" Drone: From Theory to Practice


Mar 11, 2021
Joshua Fishman, Samuel Ubellacker, Nathan Hughes, Luca Carlone

* 8 pages, 8 figures, submitted to IROS 2021. arXiv admin note: text overlap with arXiv:2004.04238 

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Self-supervised Geometric Perception


Mar 04, 2021
Heng Yang, Wei Dong, Luca Carlone, Vladlen Koltun

* CVPR 2021, Oral presentation. 8 pages main results, 19 pages in total, including references and supplementary 

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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

* 2020 International Symposium on Experimental Robotics (ISER 2020) 

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Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs


Jan 24, 2021
Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, Luca Carlone

* 34 pages, 25 figures, 9 tables. arXiv admin note: text overlap with arXiv:2002.06289 

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Monitoring and Diagnosability of Perception Systems


Nov 19, 2020
Pasquale Antonante, David I. Spivak, Luca Carlone

* arXiv admin note: text overlap with arXiv:2005.11816 

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Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping


Nov 08, 2020
Yun Chang, Yulun Tian, Jonathan P. How, Luca Carlone

* 9 pages 

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ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants


Nov 07, 2020
Jingnan Shi, Heng Yang, Luca Carlone


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Primal-Dual Mesh Convolutional Neural Networks


Oct 23, 2020
Francesco Milano, Antonio Loquercio, Antoni Rosinol, Davide Scaramuzza, Luca Carlone

* 34th Conference on Neural Information Processing Systems (NeurIPS 2020) 
* Accepted to the 34th Conference on Neural Information Processing Systems (NeurIPS 2020), Vancouver, Canada. Code available at: https://github.com/MIT-SPARK/PD-MeshNet 

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Shonan Rotation Averaging: Global Optimality by Surfing $SO(p)^n$


Aug 06, 2020
Frank Dellaert, David M. Rosen, Jing Wu, Robert Mahony, Luca Carlone

* 30 pages (paper + supplementary material). To appear at the European Conference on Computer Vision (ECCV) 2020 

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Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications


Jul 29, 2020
Pasquale Antonante, Vasileios Tzoumas, Heng Yang, Luca Carlone


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One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers


Jun 11, 2020
Heng Yang, Luca Carlone

* 8 pages main results, 31 pages in total 

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Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation


May 11, 2020
Arjun Gupta, Luca Carlone

* Accepted to ITSC 2020 

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Control and Trajectory Optimization for Soft Aerial Manipulation


Apr 08, 2020
Joshua Fishman, Luca Carlone

* 15 pages, 9 figures. Submitted to CDC 2020 

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LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments


Mar 05, 2020
Kamak Ebadi, Yun Chang, Matteo Palieri, Alex Stephens, Alex Hatteland, Eric Heiden, Abhishek Thakur, Nobuhiro Funabiki, Benjamin Morrell, Sally Wood, Luca Carlone, Ali-akbar Agha-mohammadi


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