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Scale-Invariant Specifications for Human-Swarm Systems


Dec 12, 2022
Joel Meyer, Ahalya Prabhakar, Allison Pinosky, Ian Abraham, Annalisa Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava Simidchieva, Shane Clark, Todd Murphey

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* Journal of Field Robotics, Accepted for Publication. 25 pages 

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Scale-Invariant Specifications for \\Human-Swarm Systems


Dec 06, 2022
Joel Meyer, Ahalya Prabhakar, Allison Pinosky, Ian Abraham, Annalisa Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava Simidchieva, Shane Clark, Todd Murphey

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* Journal of Field Robotics, Accepted for Publication. 25 pages 

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Scale-Invariant Fast Functional Registration


Sep 26, 2022
Muchen Sun, Allison Pinosky, Ian Abraham, Todd Murphey

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* International Symposium of Robotics Research, 2022 
* 17 pages 

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Majorization Minimization Methods for Distributed Pose Graph Optimization


Aug 03, 2021
Taosha Fan, Todd Murphey

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* 33 pages 

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Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation


Jun 25, 2021
Muchen Sun, Francesca Baldini, Peter Trautman, Todd Murphey

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* Robotics: Science and Systems, 2021 
* 12 pages 

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Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation


May 28, 2021
Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd Murphey, Mustafa Mukadam

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* 20 pages, including appendix 

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Ergodic imitation: Learning from what to do and what not to do


Mar 31, 2021
Aleksandra Kalinowska, Ahalya Prabhakar, Kathleen Fitzsimons, Todd Murphey

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* International Conference on Robotics and Automation, 2021 
* Kalinowska and Prabhakar contributed equally to this work 

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Generalized Proximal Methods for Pose Graph Optimization


Dec 04, 2020
Taosha Fan, Todd Murphey

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* International Symposium on Robotics Research (ISRR), 2019 
* 29 pages 

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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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CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation


Jun 25, 2020
Taosha Fan, Hanlin Wang, Michael Rubenstein, Todd Murphey

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* IEEE Transactions on Robotics, 2020 

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