Recent Submissions

  • Information-based Reduced Landmark SLAM 

    Choudhary, Siddharth; Indelman, Vadim; Christensen, Henrik I.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-05)
    In this paper, we present an information-based approach to select a reduced number of landmarks and poses for a robot to localize itself and simultaneously build an accurate map. We develop an information theoretic ...
  • Trust Modeling in Multi-Robot Patrolling 

    Pippin, Charles; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
    On typical multi-robot teams, there is an implicit assumption that robots can be trusted to effectively perform assigned tasks. The multi-robot patrolling task is an example of a domain that is particularly sensitive to ...
  • Performance based task assignment in multi- robot patrolling 

    Pippin, Charles, E.; Christensen, Henrik I.; Weiss, Lora G. (Georgia Institute of TechnologyACM, 2013)
    This article applies a performance metric to the multi-robot patrolling task to more efficiently distribute patrol areas among robot team members. The multi-robot patrolling task employs multiple robots to perform frequent ...
  • Dynamic, cooperative multi-robot pa trolling with a team of UAVs 

    Pippin, Charles, E.; Christensen, Henrik I.; Weiss, Lora G. (Georgia Institute of TechnologySociety of Photo-Optical Instrumentation Engineers (SPIE), 2013)
    The multi-robot patrolling task has practical relevance in surveillance, search and rescue, and security applications. In this task, a team of robots must repeatedly visit areas in the environment, minimizing the time ...
  • Robust 3D Visual Tracking Using Particle Filtering on the Special Euclidean Group: A Combined Approach of Keypoint and Edge Features 

    Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologySAGE Publications, 2012-03-07)
    We present a 3D model-based visual tracking approach using edge and keypoint features in a particle filtering framework. Recently, particle filtering based approaches have been proposed to integrate multiple pose hypotheses ...
  • 3D Pose Estimation of Daily Objects Using an RGB-D Camera 

    Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
    In this paper, we present an object pose estimation algorithm exploiting both depth and color information. While many approaches assume that a target region is cleanly segmented from background, our approach does not rely ...
  • 3D Textureless Object Detection and Tracking: An Edge-based Approach 

    Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
    This paper presents an approach to textureless object detection and tracking of the 3D pose. Our detection and tracking schemes are coherently integrated in a particle filtering framework on the special Euclidean group, ...
  • Simultaneous Localization and Mapping with Learned Object Recognition and Semantic Data Association 

    Rogers, John G.; Trevor, Alexander J.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
    Complex and structured landmarks like objects have many advantages over low-level image features for semantic mapping. Low level features such as image corners suffer from occlusion boundaries, ambiguous data association, ...
  • Linguistic Composition of Semantic Maps and Hybrid Controllers. Experimental Robotics 

    Dantam, Neil; Nieto-Granda, Carlos; Christensen, Henrik I.; Stilman, Mike (Georgia Institute of TechnologySpringer Verlag, 2012-06)
    This work combines semantic maps with hybrid control models, generating a direct link between action and environment models to produce a control policy for mobile manipulation in unstructured environments. First, we generate ...
  • Coordination Strategies for Multi-robot Exploration and Mapping 

    Rogers, John G.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of TechnologySpringer Verlag, 2012-06)
    Situational awareness in rescue operations can be provided by teams of autonomous mobile robots. Human operators are required to teleoperate the current generation of mobile robots for this application; however, teleoperation ...
  • Incentive based cooperation in multi-agent auctions 

    Pippin, Charles, E.; Christensen, Henrik I. (Georgia Institute of TechnologyAssociation for the Advancement of Artificial Intelligence, 2012-03)
    Market or auction based algorithms offer effective methods for de-centralized task assignment in multi-agent teams. Typically there is an implicit assumption that agents are willing to cooperate and can be trusted to perform ...
  • Robust 3D visual tracking using particle filtering on the SE(3) group 

    Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
    In this paper, we present a 3D model-based object tracking approach using edge and keypoint features in a particle filtering framework. Edge points provide 1D information for pose estimation and it is natural to consider ...
  • Cooperation based Dynamic Team Formation in Multi-Agent Auctions 

    Pippin, Charles, E.; Christensen, Henrik I. (Georgia Institute of TechnologySociety of Photo-Optical Instrumentation Engineers (SPIE), 2012-05)
    Auction based methods are often used to perform distributed task allocation on multi-agent teams. Many existing approaches to auctions assume fully cooperative team members. On in-situ and dynamically formed teams, reciprocal ...
  • Learning task performance in market-based task allocation 

    Pippin, Charles, E.; Christensen, Henrik I. (Georgia Institute of TechnologySpringer-Verlag, 2012-06)
    Auction based algorithms offer effective methods for de-centralized task assignment in multi-agent teams. Typically there is an implicit assumption that agents can be trusted to effectively perform assigned tasks. However, ...
  • Performance based monitoring using statistical control charts on multi-robot teams 

    Pippin, Charles, E.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
    On typical multi-robot teams, there is an implicit assumption that robots can be trusted to effectively perform assigned tasks. However, reliable performance of team members may not always be a valid assumption. For instance, ...
  • Tables, Counters, and Shelves: Semantic Mapping of Surfaces in 3D 

    Trevor, Alexander J. B.; Rogers, John G.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of Technology, 2010-10)
    Semantic mapping aims to create maps that include meaningful features, both to robots and humans. We present an extension to our feature based mapping technique that includes information about the locations of horizontal ...
  • Semantic map partitioning in indoor environments using regional analysis 

    Nieto-Granda, Carlos; Rogers, John G.; Trevor, Alexander J. B.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
    Classification of spatial regions based on semantic information in an indoor environment enables robot tasks such as navigation or mobile manipulation to be spatially aware. The availability of contextual information can ...
  • Slam with expectation maximization for moveable object tracking 

    Rogers, John G.; Trevor, Alexander J. B.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
    The goal of simultaneous localization and mapping (SLAM) is to compute the posterior distribution over landmark poses. Typically, this is made possible through the static world assumption - the landmarks remain in the same ...
  • Planning in logistics: a survey 

    Kolhe, Pushkar; Christensen, Henrik I. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2010-09)
    Planning is an essential part of any logistics system. The paper tries to generalize the view of a logistics planner by framing it as a knapsack problem. We show how the various variants of the knapsack problem compare for ...
  • Feature-based mapping with grounded landmark and place labels 

    Trevor, Alexander J. B.; Rogers, John G.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of Technology, 2011-06)
    Service robots can benefit from maps that support their tasks and facilitate communication with humans. For efficient interaction, it is practical to be able to reference structures and objects in the environment, e.g. ...

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