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
K. Y. Chee, T. Z. Jiahao and M. A. Hsieh Abstract: In this letter, we consider the problem of deriving and incorporating accurate dynamic models for model predictive control (MPC) with an application to quadrotor control. MPC relies on precise dynamic models to achieve the desired closed-loop performance. However, the presence of uncertainties in complex … Read more
T. Salam, V. Edwards, and M. A. Hsieh Abstract: This letter studies how global dynamics and knowledge of high-level features can inform decision-making for robots in flow-like environments. Specifically, we investigate how coherent sets, an environmental feature found in these environments, inform robot awareness within these scenarios. The proposed approach is an online environmental feature … Read more
Using control to shape stochastic escape and switching dynamics Dhanushka Kularatne, Eric Forgoston, and M. Ani Hsieh Abstract: We present a strategy to control the mean stochastic switching times of general dynamical systems with multiple equilibrium states subject to Gaussian white noise. The control can either enhance or abate the probability of escape from the … Read more
Coordination of multiple AGVs: a quadratic optimization method Valerio Digani, M. Ani Hsieh, Lorenzo Sabattini, and Cristian Secchi Abstract: This paper presents an optimization strategy to coordinate a fleet of Automated Guided Vehicles (AGVs) traveling on ad-hoc pre-defined roadmaps. Specifically, the objective is to maximize traffic throughput of AGVs navigating in an automated warehouse by minimizing the time AGVs spend … Read more
Going With The Flow: A Graph Based Approach to Optimal Path Planning in General Flows Dhanushka Kularatne, Subhrajit Bhattacharya, and M. Ani Hsieh Abstract: Autonomous surface and underwater vehicles (ASVs and AUVs) used for ocean monitoring are typically deployed for long periods of time and must operate with limited energy budgets. Coupled with the increased … Read more