Robotics: Science and Systems XI

Table of Contents

ElasticFusion: Dense SLAM Without A Pose Graph
Thomas Whelan, Stefan Leutenegger, Renato Salas Moreno, Ben Glocker, Andrew Davison
Hilbert maps: scalable continuous occupancy mapping with stochastic gradient descent
Fabio Ramos, Lionel Ott
Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping
Benjamin Charrow, Gregory Kahn, Sachin Patil, Sikang Liu, Ken Goldberg, Pieter Abbeel, Nathan Michael, Vijay Kumar
Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation
Beipeng Mu, Ali-akbar Agha-mohammadi, Liam Paull, Matthew Graham, Jonathan How, John Leonard
Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest
Sanjiban Choudhury, Sebastian Scherer, Andrew Bagnell
IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation
Christian Forster, Luca Carlone, Frank Dellaert, Davide Scaramuzza
Policy Search for Multi-Robot Coordination under Uncertainty
Christopher Amato, George Konidaris, Ariel Anders, Gabriel Cruz, Jonathan How, Leslie Kaelbling
A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices
Kejian Wu, Ahmed Ahmed, Georgios Georgiou, Stergios Roumeliotis
Decoupled Representation of the Error and Trajectory Estimates for Ef_cient Pose Estimation
Xing Zheng, Mingyang Li, Anastasios Mourikis
Long-horizon Robotic Search and Classification using Sampling-based Motion Planning
Geoffrey Hollinger
Motion Planning for Unlabeled Discs with Optimality Guarantees
Kiril Solovey, Jingjin Yu, Or Zamir, Dan Halperin
DeepMPC: Learning Deep Latent Features for Model Predictive Control
Ian Lenz, Ross Knepper, Ashutosh Saxena
Direct Loss Minimization Inverse Optimal Control
Andreas Doerr, Nathan Ratliff, Jeannette Bohg, Marc Toussaint, Stefan Schaal
Robust Trajectory Optimization Under Frictional Contact with Iterative Learning
Jingru Luo, Kris Hauser
Efficient High-Dimensional Stochastic Optimal Motion Control using Tensor-Train Decomposition
Alex Gorodetsky, Sertac Karaman, Youssef Marzouk
A New Perspective and Extension of the Gaussian Filter
Manuel Wuthrich, Sebastian Trimpe, Daniel Kappler, Stefan Schaal
Guidance and Navigation for UAV Airborne Docking
Daniel Wilson, Ali Goktogan, Salah Sukkarieh
Grounding English Commands to Reward Functions
James MacGlashan, Monica Babes-Vroman, Marie desJardins, Michael Littman, Smaranda Muresan, Shawn Squire, Stefanie Tellex, Dilip Arumugam, Lei Yang
Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact
Tapomayukh Bhattacharjee, Joshua Wade, Charles Kemp
Guaranteeing Spoof-Resilient Multi-Robot Networks
Stephanie Gil, Swarun Kumar, Mark Mazumder, Dina Katabi, Daniela Rus
Tracking Attracting Lagrangian Coherent Structures in Flows
Dhanushka Kularatne, Ani Hsieh
Place Recognition with ConvNet Landmarks: Viewpoint-Robust, Condition-Robust, Training-Free
Niko Suenderhauf, Sareh Shirazi, Adam Jacobson, Feras Dayoub, Edward Pepperell, Ben Upcroft, Michael Milford
Exploiting the Separable Structure of SLAM
Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
rCRF: Recursive Belief Estimation over CRFs in RGB-D Activity Videos
Ozan Sener, Ashutosh Saxena
Layered Interpretation of Street View Images
Ming-Yu Liu, Shuoxin Lin, Srikumar Ramalingam, Oncel Tuzel
Quantitative Measures of a Robot's Ability to Balance
Roy Featherstone
Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics
Andrea Del Prete, Nicolas Mansard
Leveraging Cone Double Description for Multi-contact Stability of Humanoids with Applications to Statics and Dynamics
Stephane Caron, Quang Cuong Pham, Yoshihiko Nakamura
Robust Trajectory Optimization: A Cooperative Stochastic Game Theoretic Approach
Yunpeng Pan, Evangelos Theodorou, Kaivalya Bakshi
The dynamics of legged locomotion in heterogeneous terrain: universality in scattering and sensitivity to initial conditions
Feifei Qian, Daniel Goldman
Adaptive Coordination Strategies for Human-Robot Handovers
Chien-Ming Huang, Maya Cakmak, Bilge Mutlu
Shared Autonomy via Hindsight Optimization
Shervin Javdani, Siddhartha Srinivasa, Andrew Bagnell
Three's company, or a crowd?: The effects of robot number and behavior on HRI in Japan and the USA
Marlena Fraune, Satoru Kawakami, Selma Sabanovic, Ravindra de Silva, Michio Okada
Monocular SLAM Supported Object Recognition
Sudeep Pillai, John Leonard
Voting for Voting in Online Point Cloud Object Detection
Dominic Zeng Wang, Ingmar Posner
Continuous-Time Trajectory Estimation for Event-based Vision Sensors
Elias Mueggler, Guillermo Gallego, Davide Scaramuzza
Get Out of My Lab: Large-scale, Real-Time Visual-Inertial Localization
Simon Lynen, Torsten Sattler, Michael Bosse, Joel Hesch, Marc Pollefeys, Roland Siegwart
A Spatiotemporal Optimal Stopping Problem for Mission Monitoring with Stationary Viewpoints
Graeme Best, Wolfram Martens, Robert Fitch
Autonomy Infused Teleoperation with Application to BCI Manipulation
Katharina Mulling, Arun Venkatraman, Jean-Sebastien Valois, John Downey, Jeffrey Weiss, Shervin Javdani, Martial Hebert, Andrew Schwartz, Jennifer Collinger, Andrew Bagnell
Chisel: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device using Spatially Hashed Signed Distance Fields
Matthew Klingensmith, Ivan Dryanovski, Siddhartha Srinivasa, Jizhong Xiao
Probabilistic Semi-Dense Mapping from Highly Accurate Feature-Based Monocular SLAM
Raul Mur-Artal, Juan Tardos
Online Localization of Radio-Tagged Wildlife with an Autonomous Aerial Robot System
Oliver Cliff, Robert Fitch, Salah Sukkarieh, Debbie Saunders, Robert Heinsohn
Multipolicy Decision-Making for Autonomous Driving via Changepoint-based Behavior Prediction
Enric Galceran, Alexander Cunningham, Ryan Eustice, Edwin Olson
Data-Driven Online Decision Making for Autonomous Manipulation
Daniel Kappler, Peter Pastor, Mrinal Kalakrishnan, Manuel Wuthrich, Stefan Schaal
Dealing with Difficult Instances of Object Rearrangement
Athanasios Krontiris, Kostas Bekris
On the hardness of unlabeled multi-robot motion planning
Kiril Solovey, Dan Halperin
Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds
Hae-Won Park, Patrick Wensing, Sangbae Kim
Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs
Quan Nguyen, Koushil Sreenath
Data-Driven Topological Motion Planning with Persistent Cohomology
Florian T. Pokorny, Danica Kragic