Publications - Robotics Institute Carnegie Mellon University

AirCode: A Robust Object Encoding Method

Kuan Xu, Chen Wang, Chao Chen, Wei Wu, and Sebastian Scherer

Journal Article, IEEE Robotics and Automation Letters, January, 2022

Spectral-Based Distributed Ergodic Coverage for Heterogeneous Multi-Agent Search

Guillaume Sartoretti, Ananya Rao, and Howie Choset

Conference Paper, Proceedings of International Symposium on Distributed Autonomous Robotic Systems (DARS), January, 2022

Aerial Field Robotics

Kulkarni M, Moon B, Alexis K, and Scherer S

Book Section/Chapter, Encyclopedia of Robotics, pp. 1-15, 2022

AdaFusion: Visual-LiDAR fusion with adaptive weights for place recognition

Lai H, Yin P, and Scherer S

Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 4, pp. 12038-12045, 2022

ALITA: A large-scale incremental dataset for long-term autonomy

Yin P, Zhao S, Ge R, Cisneros I, Fu R, Zhang J, Choset H, and Scherer S

Journal Article, arXiv preprint arXiv:2205. 10737, 2022

ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization

Cisneros I, Yin P, Zhang J, Choset H, and Scherer S

Journal Article, arXiv preprint arXiv:2207. 12317, 2022

Challenges in Close-Proximity Safe and Seamless Operation of Manned and Unmanned Aircraft in Shared Airspace

Patrikar J, Dantas JP, Ghosh S, Kapoor P, Higgins I, Aloor JJ, Navarro I, Sun J, Stoler B, Hamidi M, Baijal R, Moon B, Oh J, and Scherer S

Journal Article, arXiv preprint arXiv:2211. 06932, 2022

Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure

Mousaei M, Geng J, Keipour A, Bai D, and Scherer S

Conference Paper, Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4310-4317, 2022

Detection and Physical Interaction with Deformable Linear Objects

Keipour A, Mousaei M, Bandari M, Schaal S, and Scherer S

Conference Paper, Proceedings of ICRA 2022 2nd Workshop on Representing and Manipulating Deformable Objects, 2022

Drone flight data reveal energy and greenhouse gas emissions savings for very small package delivery

Rodrigues TA, Patrikar J, Oliveira NL, Matthews HS, Scherer S, and Samaras C

Journal Article, Patterns, Vol. 3, No. 8, pp. 100569, 2022

General Place Recognition Survey: Towards the Real-world Autonomy Age

Yin P, Zhao S, Cisneros I, Abuduweili A, Huang G, Milford M, Liu C, Choset H, and Scherer S

Journal Article, arXiv preprint arXiv:2209. 04497, 2022

I2D-Loc: Camera localization via image to LiDAR depth flow

Chen K, Yu H, Yang W, Yu L, Scherer S, and Xia GS

Journal Article, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 194, pp. 209-221, 2022

On Performance Impacts of Coordination via Submodular Maximization for Multi-Robot Perception Planning and the Dynamics of Target Coverage and Cinematography

Corah M and Scherer S

Conference Paper, Proceedings of RSS 2022 Workshop on Envisioning an Infrastructure for Multi-Robot and Collaborative Autonomy Testing and Evaluation, 2022

Predicting Like a Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace

Patrikar J, Moon B, Oh J, and Scherer S

Conference Paper, Proceedings of International Conference on Robotics and Automation (ICRA), 2022

Resilient Multi-Sensor Exploration of Multifarious Environments with a Team of Aerial Robots

Best G, Garg R, Keller J, Hollinger GA, and Scherer S

Conference Paper, Proceedings of Robotics: Science and Systems, 2022

Robust Modeling and Controls for Racing on the Edge

Spisak J, Saba A, Suvarna N, Mao B, Zhang CT, Chang C, Scherer S, and Ramanan D

Conference Paper, Proceedings of arXiv preprint arXiv:2205.10841, 2022

Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning

Wang SJ, Triest S, Wang W, Scherer S, and Johnson A

Conference Paper, Proceedings of the 5th Conference on Robot Learning, Vol. 164, pp. 224-233, 2022

SphereVLAD++: Attention-Based and Signal-Enhanced Viewpoint Invariant Descriptor

Zhao S, Yin P, Yi G, and Scherer S

Journal Article, IEEE Robotics and Automation Letters, Vol. 8, No. 1, pp. 256-263, 2022

Targetless Extrinsic Calibration of Stereo, Thermal, and Laser Sensors in Structured Environments

Fu T, Yu H, Yang W, Hu Y, and Scherer S

Journal Article, IEEE Transactions on Instrumentation and Measurement, Vol. 71, pp. 1-11, 2022

TartanCalib: Iterative Wide-Angle Lens Calibration using Adaptive SubPixel Refinement of AprilTags

Duisterhof BP, Hu Y, Teng SH, Kaess M, and Scherer S

Journal Article, arXiv preprint arXiv:2210. 02511, 2022

TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models

Triest S, Sivaprakasam M, Wang SJ, Wang W, Johnson AM, and Scherer S

Conference Paper, Proceedings of 2022 International Conference on Robotics and Automation (ICRA), 2022

TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning

Moon B, Chatterjee S, and Scherer S

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapping Monocular Cameras

He Y, Yu H, Yang W, and Scherer S

Conference Paper, Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 9452-9458, 2022

Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics

Zhen W, Yu H, Hu Y, and Scherer S

Conference Paper, Proceedings of 2022 International Conference on Robotics and Automation (ICRA), 2022

Visual Servoing Approach to Autonomous UAV Landing on a Moving Vehicle

Keipour A, Pereira GA, Bonatti R, Garg R, Rastogi P, Dubey G, and Scherer S

Journal Article, Sensors, Vol. 22, No. 17, pp. 6549, 2022

VTOL failure detection and recovery by utilizing redundancy

Mousaei M, Keipour A, Geng J, and Scherer S

Journal Article, arXiv preprint arXiv:2206. 00588, 2022

Automated Assessment of Cardiovascular Sufficiency Using Non-Invasive Physiological Data

Xinyu Li, Michael R. Pinsky, and Artur Dubrawski

Journal Article, Sensors, Vol. 22, No. 3, 2022

Multi-Objective Path-Based D* Lite

Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, and Howie Choset

Journal Article, IEEE Robotics and Automation Letters, 2022

Robust Quantum Optimal Control with Trajectory Optimization

Thomas Propson, Brian E. Jackson, Jens Koch, Zachary Manchester, and David I. Schuster

Journal Article, Physical Review Applied, Vol. 17, No. 1, 2022

Learning Cooperative Multi-Agent Policies with Partial Reward Decoupling

Benjamin Freed, Aditya Kapoor, Ian Abraham, Jeff Schneider, and Howie Choset

Journal Article, IEEE Robotics and Automation Letters, December, 2021

Reactive Long Horizon Task Execution via Visual Skill and Precondition Models

Shohin Mukherjee, Chris Paxton, Arsalan Mousavian, Adam Fishman, Maxim Likhachev, and Dieter Fox

Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, December, 2021

Kinematic Analysis of 3D-printed Flexible Delta Robots

Avi Rudich

Master's Thesis, Tech. Report, CMU-RI-TR-21-70, Robotics Institute, Carnegie Mellon University, December, 2021

BATS: Best Action Trajectory Stitching

Ian Char, Viraj Mehta, Adam Villaflor, John M. Dolan, and Jeff Schneider

Workshop Paper, Offline Reinforcement Learning, December, 2021

Dynamical Model Learning and Inversion for Aggressive Quadrotor Flight

Alexander Spitzer

PhD Thesis, Tech. Report, CMU-RI-TR-22-03, Robotics Institute, Carnegie Mellon University, December, 2021

HARMONIC: A Multimodal Data Set of Assistive Human-robot Collaboration

Benjamin A. Newman, Reuben M. Aronson, Siddhartha S. Srinivasa, Kris Kitani, and Henny Admoni

Journal Article, International Journal of Robotics Research, December, 2021

Facial Action Units and Head Dynamics in Longitudinal Interviews Reveal OCD and Depression severity and DBS Energy

Ali Darzi, Nicole R. Provenza, Laszlo A. Jeni, David A. Borton, Sameer A. Sheth, Wayne K. Goodman, and Jeffrey F. Cohn

Conference Paper, Proceedings of 16th IEEE International Conference on Automatic Face and Gesture Recognition (FG '21), December, 2021

High Fidelity 3D Reconstructions with Limited Physical Views

Mosam Dabhi, Chaoyang Wang, Kunal Saluja, Laszlo A. Jeni, Ian Fasel, and Simon Lucey

Conference Paper, Proceedings of International Conference on 3D Vision (3DV '21), pp. 1301 - 1311, December, 2021

L-Shape Fitting-based Vehicle Pose Estimation and Tracking Using 3D-LiDAR

Chengfeng Zhao, Chen Fu, John M. Dolan, and Jun Wang

Journal Article, IEEE Transactions on Intelligent Vehicles (ITIV '22), Vol. 6, No. 4, pp. 787 - 798, December, 2021

Pairwise Symmetry Reasoning for Multi-Agent Path Finding Search

Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Hang Ma, Graeme Gange, and Sven Koenig

Journal Article, Artificial Intelligence, Vol. 301, December, 2021

Self-Supervised Point Cloud Completion via Inpainting

Himangi Mittal, Brian Okorn, Arpit Jangid, and David Held

Conference Paper, Proceedings of British Machine Vision Conference (BMVC '21), November, 2021

Unsupervised Online Learning for Robotic Interestingness with Visual Memory

Chen Wang, Yuheng Qiu, Wenshan Wang, Yafei Hu, Seungchan Kim, and Sebastian Scherer

Journal Article, IEEE Transactions on Robotics, November, 2021

Computer Mediated Automatic Detection of Pain-Related Behavior: Prospect, Progress, Perils

Kenneth Prkachin and Zakia Hammal

Journal Article, Frontiers in Pain Research, section Pain Research Methods, November, 2021

The Role of Pleura and Adipose in Lung Ultrasound AI

Gautam Rajendrakumar Gare, Wanwen Chen, Alex Ling Yu Hung, Edward Chen, Hai V. Tran, Tom Fox, Peter Lowery, Kevin Zamora, Bennett P. DeBoisblanc, Ricardo Luis Rodriguez, and John Michael Galeotti

Workshop Paper, MICCAI '21 Workshop on Lessons learned from the development and application of medical imaging-based AI technologies for combating COVID-19, November, 2021

FarOut Touch: Extending the Range of ad hoc Touch Sensing with Depth Cameras

Vivian Shen, James Spann, and Chris Harrison

Conference Paper, Proceedings of ACM Spatial User Interaction, November, 2021

LEO: Learning Energy-based Models in Factor Graph Optimization

Paloma Sodhi, Mustafa Mukadam, Stuart Anderson, and Michael Kaess

Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2021

ReSkin: versatile, replaceable, lasting tactile skins

Raunaq Bhirangi, Tess Hellebrekers, Carmel Majidi, and Abhinav Gupta

Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2021

Safe and Resilient Practical Waypoint-Following for Autonomous Vehicles

Qin Lin, Stefan Mitsch, André Platzer, and John M. Dolan

Journal Article, IEEE Control Systems Letters, Vol. 6, pp. 1574 - 1579, November, 2021

Characterization of Compliant Parallelogram Links for 3D-Printed Delta Manipulators

Pragna Mannam, Oliver Kroemer, and F. Zeynep Temel

Conference Paper, Proceedings of 17th International Symposium on Experimental Robotics (ISER '20), November, 2021

Multi-class Generative Adversarial Networks: Improving One-class Classification of Pneumonia Using Limited Labeled Data

Saman Motamed and Farzad Khalvati

Conference Paper, Proceedings of 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC '21), pp. 3817 - 3822, November, 2021

Parameter Identification for Multirobot Systems Using Optimization-based Controllers

Jaskaran Grover, Changliu Liu, and Katia Sycara

Conference Paper, Proceedings of International Symposium on Multi-Robot and Multi-Agent Systems (MRS '21), pp. 173 - 180, November, 2021