conference-paper

Kenneth Chaney, Fernando Cladera, Ziyun Wang, Anthony Bisulco, M. Ani Hsieh, Christopher Korpela, Vijay Kumar, Camillo J. Taylor, and Kostas Daniilidis Abstract: We present M3ED, the first multi-sensor event camera dataset focused on high-speed dynamic motions in robotics applications. M3ED provides high-quality synchronized and labeled data from multiple platforms, including ground vehicles, legged robots, and … Read more

Y. Wu, T. Z. Jiahao, J. Wang, P. A. Yushkevich, M. A. Hsieh, J. C. Gee Abstract: Deformable image registration (DIR), aiming to find spatial correspondence between images, is one of the most critical problems in the domain of medical image analysis. In this paper, we present a novel, generic, and accurate diffeomorphic image registration … Read more

L. Shen, X. Yu, and M. A. Hsieh Abstract: Mobile agents can form communication networks with links that emerge and disappear over time. Information transmission on such networks must pass through a sequence of links that are activated in a certain chronological order. Uncertainties in a link’s activation or deactivation risk violating the chronological order … Read more

G. Knizhnik, P. Li, X. Yu, and M. A. Hsieh Abstract: We present a flow-based control strategy that enables resource-constrained marine robots to patrol gyre-like flow environments on an orbital trajectory with a periodicity in a given range. The controller does not require a detailed model of the flow field and relies only on the … Read more

T. Z. Jiahao, L. Pan, and M. A. Hsieh Abstract: Understanding decentralized dynamics from collective behaviors in swarms is crucial for informing robot controller designs in artificial swarms and multiagent robotic systems. However, the complexity in agent-to-agent interactions and the decentralized nature of most swarms pose a significant challenge to the extraction of single-robot control … Read more

Differential Geometric Approach to Trajectory Planning: Cooperative Transport by a Team of Autonomous Marine Vehicles Hadi Hajieghrary, Dhanushka Kularatne, and M. Ani Hsieh Abstract: In this paper we addressed the cooperative transport problem for a team of autonomous surface vehicles (ASVs) towing a single buoyant load. We consider the dynamics of the constrained system and … Read more

Optimal Path Planning in Time-Varying Flows with Forecasting Uncertainties Dhanushka Kularatne, Hadi Hajieghrary, and M. Ani Hsieh Abstract: Uncertainties in flow models have to be explicitly considered for effective path planning in marine environments. In this paper, we present two methods to compute minimum expected cost policies and paths over an uncertain flow model. The … Read more