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TerrainMesh: Metric-Semantic Terrain Reconstruction from Aerial Images Using Joint 2D-3D Learning


Apr 23, 2022
Qiaojun Feng, Nikolay Atanasov

* 15 pages, 14 figures. arXiv admin note: text overlap with arXiv:2101.01844 

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Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories


Apr 15, 2022
Arash Asgharivaskasi, Shumon Koga, Nikolay Atanasov


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Safe Control Synthesis with Uncertain Dynamics and Constraints


Feb 19, 2022
Kehan Long, Vikas Dhiman, Melvin Leok, Jorge Cortés, Nikolay Atanasov


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DARL1N: Distributed multi-Agent Reinforcement Learning with One-hop Neighbors


Feb 18, 2022
Baoqian Wang, Junfei Xie, Nikolay Atanasov


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Physics-guided Learning-based Adaptive Control on the SE(3) Manifold


Jan 12, 2022
Thai Duong, Nikolay Atanasov

* Accepted to Physical Reasoning and Inductive Biases for the Real World workshop at NeurIPS 2021. arXiv admin note: text overlap with arXiv:2109.09974 

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Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics


Dec 09, 2021
Zhichao Li, Thai Duong, Nikolay Atanasov


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Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observations


Dec 08, 2021
Arash Asgharivaskasi, Nikolay Atanasov

* arXiv admin note: substantial text overlap with arXiv:2101.01831 

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Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach


Oct 14, 2021
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov

* 8 pages, 4 figures, submitted to American Control Conference 2022 

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Distributed Gaussian Process Mapping for Robot Teams with Time-varying Communication


Oct 12, 2021
James Di, Ehsan Zobeidi, Alec Koppel, Nikolay Atanasov


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Learning Adaptive Control for SE(3) Hamiltonian Dynamics


Sep 21, 2021
Thai Duong, Nikolay Atanasov

* Project website: https://thaipduong.github.io/hamadapt/ 

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ELLIPSDF: Joint Object Pose and Shape Optimization with a Bi-level Ellipsoid and Signed Distance Function Description


Aug 01, 2021
Mo Shan, Qiaojun Feng, You-Yi Jau, Nikolay Atanasov

* Accepted by ICCV 2021 

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A Deep Signed Directional Distance Function for Object Shape Representation


Jul 23, 2021
Ehsan Zobeidi, Nikolay Atanasov


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Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control


Jun 24, 2021
Thai Duong, Nikolay Atanasov

* Accepted to RSS 2021. Website: https://thaipduong.github.io/SE3HamDL/ 

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Dense Incremental Metric-Semantic Mapping for Multi-Agent Systems via Sparse Gaussian Process Regression


Mar 30, 2021
Ehsan Zobeidi, Alec Koppel, Nikolay Atanasov


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CORSAIR: Convolutional Object Retrieval and Symmetry-AIded Registration


Mar 11, 2021
Tianyu Zhao, Qiaojun Feng, Sai Jadhav, Nikolay Atanasov

* 8 pages, 8 figures 

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Inverse Reinforcement Learning of Autonomous Behaviors Encoded as Weighted Finite Automata


Mar 10, 2021
Tianyu Wang, Nikolay Atanasov

* 8 pages, 4 figures 

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Active Exploration and Mapping via Iterative Covariance Regulation over Continuous $SE(3)$ Trajectories


Mar 10, 2021
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov

* 8 pages, 5 figures, submitted to 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 

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Fully Convolutional Geometric Features for Category-level Object Alignment


Mar 08, 2021
Qiaojun Feng, Nikolay Atanasov

* 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020, pp. 8492-8498 
* 7 pages, 9 figures 

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Localization and Mapping using Instance-specific Mesh Models


Mar 08, 2021
Qiaojun Feng, Yue Meng, Mo Shan, Nikolay Atanasov

* 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 4985-4991 
* 8 pages, 9 figures 

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Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams


Jan 26, 2021
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How

* Submitted to ICRA'21 

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Coding for Distributed Multi-Agent Reinforcement Learning


Jan 07, 2021
Baoqian Wang, Junfei Xie, Nikolay Atanasov


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Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning


Jan 06, 2021
Qiaojun Feng, Nikolay Atanasov

* 7 pages, 7 figures 

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Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observation


Jan 06, 2021
Arash Asgharivaskasi, Nikolay Atanasov


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Inverse reinforcement learning for autonomous navigation via differentiable semantic mapping and planning


Jan 01, 2021
Tianyu Wang, Vikas Dhiman, Nikolay Atanasov

* 16 pages, 12 figures. arXiv admin note: text overlap with arXiv:2006.05043 

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Control Barriers in Bayesian Learning of System Dynamics


Dec 29, 2020
Vikas Dhiman, Mohammad Javad Khojasteh, Massimo Franceschetti, Nikolay Atanasov

* Submitted to IEEE Transactions on Automatic Control. arXiv admin note: text overlap with arXiv:1912.10116 

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Learning Barrier Functions with Memory for Robust Safe Navigation


Nov 03, 2020
Kehan Long, Cheng Qian, Jorge Cortés, Nikolay Atanasov


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Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping


Sep 15, 2020
Thai Duong, Michael Yip, Nikolay Atanasov

* In Submission 

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OrcVIO: Object residual constrained Visual-Inertial Odometry


Jul 29, 2020
Mo Shan, Qiaojun Feng, Nikolay Atanasov


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Learning Navigation Costs from Demonstration with Semantic Observations


Jun 11, 2020
Tianyu Wang, Vikas Dhiman, Nikolay Atanasov

* Conference on Learning for Dynamics and Control (L4DC 2020). arXiv admin note: text overlap with arXiv:2002.11637 

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Safe Robot Navigation in Cluttered Environments using Invariant Ellipsoids and a Reference Governor


May 14, 2020
Zhichao Li, Thai Duong, Nikolay Atanasov


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