no code implementations • 30 Jan 2024 • Chanyoung Chung, Georgios Georgakis, Patrick Spieler, Curtis Padgett, Ali Agha, Shehryar Khattak
We experimentally validate the applicability of our proposed approach for autonomous offroad robotic navigation in complex and unstructured terrain using real-world offroad driving data.
no code implementations • 21 Jun 2022 • Xianmei Lei, Taeyeon Kim, Nicolas Marchal, Daniel Pastor, Barry Ridge, Frederik Schöller, Edward Terry, Fernando Chavez, Thomas Touma, Kyohei Otsu, Ali Agha
Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and challenging.
no code implementations • 21 Mar 2021 • Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge.
no code implementations • 12 Nov 2019 • E. Natasha Stavros, Ali Agha, Allen Sirota, Marco Quadrelli, Kamak Ebadi, Kyongsik Yun
Once this is completed for a single MAV, expanding the work to include many in a swarm would require further investment of distributed MAV autonomy and MAV swarm mechanics, but could greatly expand the breadth of application over large fires.
no code implementations • ICLR 2018 • Max Pflueger, Ali Agha, Gaurav S. Sukhatme
In order to deal with complex terrain observations and policy learning, we propose a value iteration recurrence, referred to as the soft value iteration network (SVIN).