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A Bayesian Modeling Framework for Estimation and Ground Segmentation of Cluttered Staircases
Autonomous robot navigation in complex environments requires robust perception as well as high-level scene understanding due to perceptual challenges, such as occlusions, and uncertainty introduced by robot movement. For example, a robot climbing a cluttered staircase can misinterpret clutter as a step, misrepresenting the state and compromising safety. This requires robust state estimation method...Show More
GESCE: Graph-based Ergodic Search in Cluttered Environments
Burhanuddin Shirose;Adam Johnson;Bhaskar Vundurthy;Howie Choset;Matthew Travers
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2024 | Conference Paper |
In this paper, we present a novel motion planning algorithm that inherits the strengths of both optimization and search-based planners. Optimization-based planners use the gradient of an objective function to generate a desired path, whereas search-based planners operate on a graph capturing the salient topology of a robot’s free space. A class of optimization-based planners leverages prior inform...Show More
Longitudinal Control Volumes: A Novel Centralized Estimation and Control Framework for Distributed Multi-Agent Sorting Systems
2024 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2024 | Conference Paper |
Centralized control of a multi-agent system improves upon distributed control especially when multiple agents share a common task e.g., sorting different materials in a recycling facility. Traditionally, each agent in a sorting facility is tuned individually which leads to suboptimal performance if one agent is less efficient than the others. Centralized control overcomes this bottleneck by levera...Show More
Exploring the Most Sectors at the DARPA Subterranean Challenge Finals
Chao Cao;Lucas Nogueira;Hongbiao Zhu;John Keller;Graeme Best;Rohit Garg;David Kohanbash;Jay Maier;Shibo Zhao;Fan Yang;Katarina Cujic;Ryan Darnley;Robert DeBortoli;Bill Drozd;Peigen Sun;Ian Higgins;Steven Willits;Greg Armstrong;Ji Zhang;Geoffrey A. Hollinger;Matthew Travers;Sebastian Scherer
Autonomous robot navigation in austere environments is critical to missions like “search and rescue”, yet it remains difficult to achieve. The recent DARPA Subterranean Challenge (SubT) highlights prominent challenges including GPS-denied navigation through rough terrains, rapid exploration in large-scale three-dimensional (3D) space, and interrobot coordination over unreliable communication. Solv...Show More
Exploring the Most Sectors at the DARPA Subterranean Challenge Finals
Chao Cao;Lucas Nogueira;Hongbiao Zhu;John Keller;Graeme Best;Rohit Garg;David Kohanbash;Jay Maier;Shibo Zhao;Fan Yang;Katarina Cujic;Ryan Darnley;Robert DeBortoli;Bill Drozd;Peigen Sun;Ian Higgins;Steven Willits;Greg Armstrong;Ji Zhang;Geoffrey A. Hollinger;Matthew Travers;Sebastian Scherer
Fabrication and Characterization of Polycarbonate Substrates for High Yield Assembly of Multicomponent Biohybrid Microrobots
Taryn Imamura;Utku M. Sonmez;Matthew Travers;Sarah Bergbreiter;Rebecca E. Taylor
2023 22nd International Conference on Solid-State Sensors, Actuators and Microsystems (Transducers)
Year: 2023 | Conference Paper |
This paper presents polycarbonate negative topographies used as substrates for the templated selfassembly of microsphere-based microrobots. This approach protects primary structures from damage during molding and de-molding, providing high fidelity negatives of arrays for assembly via templated assembly by selective removal (TASR). We show that reducing the surface energy mismatch between the micr...Show More
Fast Staircase Detection and Estimation using 3D Point Clouds with Multi-detection Merging for Heterogeneous Robots
Prasanna Sriganesh;Namya Bagree;Bhaskar Vundurthy;Matthew Travers
2023 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2023 | Conference Paper |
Cited by: Papers (5)
Robotic systems need advanced mobility capabili-ties to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some level of autonomy enables robots to operate robustly, reliably, and efficiently in such complex environments, e.g., automatically “returning home” if communication between an operator and robot is lost during deployment. ...Show More
Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires its own unique control policy. One could craft a policy from scratch for each new design, but such an approach is not scalable, especially given the large numbe...Show More
Resilient and Modular Subterranean Exploration with a Team of Roving and Flying Robots
Sebastian Scherer;Vasu Agrawal;Graeme Best;Chao Cao;Katarina Cujic;Ryan Darnley;Robert DeBortoli;Eric Dexheimer;Bill Drozd;Rohit Garg;Ian Higgins;John Keller;David Kohanbash;Lucas Nogueira;Roshan Pradhan;Michael Tatum;Vaibhav K. Viswanathan;Steven Willits;Shibo Zhao;Hongbiao Zhu;Dan Abad;Tim Angert;Greg Armstrong;Ralph Boirum;Adwait Dongare;Matthew Dworman;Shengjie Hu;Joshua Jaekel;Ran Ji;Alice Lai;Yu Hsuan Lee;Anh Luong;Joshua Mangelson;Jay Maier;James Picard;Kevin Pluckter;Andrew Saba;Manish Saroya;Emily Scheide;Nathaniel Shoemaker-Trejo;Joshua Spisak;Jim Teza;Fan Yang;Andrew Wilson;Henry Zhang;Howie Choset;Michael Kaess;Anthony Rowe;Sanjiv Singh;Ji Zhang;Geoffrey A. Hollinger;Matthew Travers
Subterranean robot exploration is difficult, with many mobility, communications, and navigation challenges that require an approach with a diverse set of systems, and reliable autonomy. While prior work has demonstrated partial successes in addressing the problem, here we convey a comprehensive approach to address the problem of subterranean exploration in a wide range of tunnel, urban, and cave e...Show More
Resilient and Modular Subterranean Exploration with a Team of Roving and Flying Robots
Sebastian Scherer;Vasu Agrawal;Graeme Best;Chao Cao;Katarina Cujic;Ryan Darnley;Robert DeBortoli;Eric Dexheimer;Bill Drozd;Rohit Garg;Ian Higgins;John Keller;David Kohanbash;Lucas Nogueira;Roshan Pradhan;Michael Tatum;Vaibhav K. Viswanathan;Steven Willits;Shibo Zhao;Hongbiao Zhu;Dan Abad;Tim Angert;Greg Armstrong;Ralph Boirum;Adwait Dongare;Matthew Dworman;Shengjie Hu;Joshua Jaekel;Ran Ji;Alice Lai;Yu Hsuan Lee;Anh Luong;Joshua Mangelson;Jay Maier;James Picard;Kevin Pluckter;Andrew Saba;Manish Saroya;Emily Scheide;Nathaniel Shoemaker-Trejo;Joshua Spisak;Jim Teza;Fan Yang;Andrew Wilson;Henry Zhang;Howie Choset;Michael Kaess;Anthony Rowe;Sanjiv Singh;Ji Zhang;Geoffrey A. Hollinger;Matthew Travers
RGB-X Classification for Electronics Sorting
Abhimanyu Fnu;Tejas Zodage;Umesh Thillaivasan;Xinyue Lai;Rahul Chakwate;Javier Santillan;Emma Oti;Ming Zhao;Ralph Boirum;Howie Choset;Matthew Travers
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2022 | Conference Paper |
Cited by: Papers (3)
Effectively disassembling and recovering materials from waste electrical and electronic equipment (WEEE) is a critical step in moving global supply chains from carbon-intensive, mined materials to recycled and renewable ones. Conventional recycling processes rely on shredding and sorting waste streams, but for WEEE, which is comprised of numerous dissimilar materials, we explore targeted disassemb...Show More
Improved Performance of CPG Parameter Inference for Path-following Control of Legged Robots
Nathan D. Kent;David Neiman;Matthew Travers;Thomas M. Howard
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
The difficulty associated with the coordinated locomotion of legged robots grows quickly as the number of joints increases. Although prior approaches have addressed this problem through sampling-based planners, learning-based techniques have recently been explored as a means to handle such complexity. Among these recent approaches are systems that utilize probabilistic graphical models in order to...Show More
This paper presents two novel factor graph formulations for performing flow control on radio transceivers forming a large Wireless Mesh Network (WMN). Both factor graph formulations are abstractions of a discrete-time finite-horizon Linear Quadratic Regulator (LQR) used to solve an Optimal Control Problem (OCP). The first formulation, WMNLQR, is a centralized controller which demonstrates the supe...Show More
Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots
Hans Kumar;J. Joe Payne;Matthew Travers;Aaron M. Johnson;Howie Choset
2022 International Conference on Robotics and Automation (ICRA)
Year: 2022 | Conference Paper |
Cited by: Papers (3)
Methods for state estimation that rely on visual information are challenging on legged robots due to rapid changes in the viewing angle of onboard cameras. In this work, we show that by leveraging structure in the way that the robot locomotes, the accuracy of visual-inertial SLAM in these challenging scenarios can be increased. We present a method that takes advantage of the underlying periodic pr...Show More
Modular Robot Design Optimization with Generative Adversarial Networks
2022 International Conference on Robotics and Automation (ICRA)
Year: 2022 | Conference Paper |
Cited by: Papers (12)
Modular robots are made up of a set of components which can be configured and reconfigured to form customized robots for a wide range of tasks. Fully utilizing the flexibility of modular robots is challenging, as it requires the identification of optimal modular designs for each given task, often with limited computation and time. Previous works in design automation achieve efficient run-times by ...Show More
Reconstruction of Backbone Curves for Snake Robots
Tianyu Wang;Bo Lin;Baxi Chong;Julian Whitman;Matthew Travers;Daniel I. Goldman;Greg Blekherman;Howie Choset
Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In motion planning process, snake robot motions are often designed kinematically by a chronological sequence of continuous backbone curves that capture desired macroscopic shapes of the robot. However, as the geometric arran...Show More
Steering Magnetic Robots in Two Axes with One Pair of Maxwell Coils
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2020 | Conference Paper |
Cited by: Papers (2)
This work demonstrates a novel approach to steering a magnetic swimming robot in two dimensions with a single pair of Maxwell coils. By leveraging the curvature of the magnetic field gradient, we achieve motion along two axes. This method allows us to control medical magnetic robots using only existing MRI technology, without requiring additional hardware or posing any additional risk to the patie...Show More
The Omega Turn: A Biologically-Inspired Turning Strategy for Elongated Limbless Robots
Tianyu Wang;Baxi Chong;Kelimar Diaz;Julian Whitman;Hang Lu;Matthew Travers;Daniel I. Goldman;Howie Choset
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2020 | Conference Paper |
Cited by: Papers (5)
Snake robots have the potential to locomote through tightly packed spaces, but turning effectively within unmodelled and unsensed environments remains challenging. Inspired by a behavior observed in the tiny nematode worm C. elegans, we propose a novel in-place turning gait for elongated limbless robots. To simplify the control of the robots' many internal degrees-of-freedom, we introduce a biolog...Show More
Hierarchical Coverage Path Planning in Complex 3D Environments
2020 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2020 | Conference Paper |
Cited by: Papers (22)
State-of-the-art coverage planning methods perform well in simple environments but take an ineffectively long time to converge to an optimal solution in complex three-dimensional (3D) environments. As more structures are present in the same volume of workspace, these methods slow down as they spend more time searching for all of the nooks and crannies concealed in three-dimensional spaces. This wo...Show More
Inferring Task-Space Central Pattern Generator Parameters for Closed-loop Control of Underactuated Robots
Nathan D. Kent;Raunaq M. Bhirangi;Matthew Travers;Thomas M. Howard
2020 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2020 | Conference Paper |
Cited by: Papers (1)
The complexity associated with the control of highly-articulated legged robots scales quickly as the number of joints increases. Traditional approaches to the control of these robots are often impractical for many real-time applications. This work thus presents a novel sampling-based planning approach for highly-articulated robots that utilizes a probabilistic graphical model (PGM) to infer in rea...Show More
A Customizable DNA and Microsphere-Based, Magnetically Actuated Microswimmer
Locomoting microscale robots-microswimmers-have the potential to impact numerous applications due to their ability to selectively interact with their environment with microscale control. Previous microswimmer designs lack either submicron-level precision over their construction or instantaneous control over their shape. Thus, existing microswimmer designs limit the control afforded over microswimm...Show More
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful motion. This is especially true in the types of terrains considered in this work: environments full of unmodeled features that even the best of maps would not captur...Show More
Energy Management Through Footstep Selection For Bipedal Robots
This work proposes a method of footstep placement that controls system energy to enable a dynamically-safe walking behavior. Contrasting many other works that treat rough terrain as a series of disturbances that need to be mitigated with control, we provide some insight into how energy-targeted foot placement is enough to allow a passive system to transit over rough terrain. This work explores the...Show More
Unified Foothold Selection and Motion Planning for Legged Systems in Real-Time
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)
Year: 2019 | Conference Paper |
This work presents a novel architecture that unifies footstep planning, motion planning, and online feedback control for legged robots moving through complex environments. Our approach contrasts related prior works that treat planning and control as separate components in a hierarchical framework (first plan, then control). Though prior works have demonstrated success, existing state-of-the-art pl...Show More
Inferring Distributions of Parameterized Controllers for Efficient Sampling-Based Locomotion of Underactuated Robots
Raghu Aditya Chavali;Nathan Kent;Michael E. Napoli;Thomas M. Howard;Matthew Travers
Sampling-based motion planning algorithms provide a means to adapt the behaviors of autonomous robots to changing or unknown a priori environmental conditions. However, as the size of the space over which a sampling-based approach needs to search is increased (perhaps due to considering robots with many degree of freedom) the computational limits necessary for real-time operation are quickly excee...Show More
Snake Robot Urban Search After the 2017 Mexico City Earthquake
2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Year: 2018 | Conference Paper |
Cited by: Papers (68)
The Carnegie Mellon University Biorobotics Laboratory was invited to bring snake robots to Mexico City to assist with search and rescue efforts in the wake of the September 2017 earthquake. We travelled with the Mexican Red Cross to collapsed building sites, and deployed a snake robot within one building to obtain a camera view in two voids that conventional search cameras could not access. We con...Show More
Distributed Learning for the Decentralized Control of Articulated Mobile Robots
Guillaume Sartoretti;Yunfei Shi;William Paivine;Matthew Travers;Howie Choset
2018 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2018 | Conference Paper |
Cited by: Papers (10)
Decentralized control architectures, such as those conventionally defined by central pattern generators, independently coordinate spatially distributed portions of articulated bodies to achieve system-level objectives. State of the art distributed algorithms for reinforcement learning employ a different but conceptually related idea; independent agents simultaneously coordinating their own behavio...Show More
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