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检索条件"机构=General Robotics Automation Sensing and Perception Laboratory"
68 条 记 录,以下是1-10 订阅
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Reparametrization of 3D CSC Dubins Paths Enabling 2D Search
arXiv
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arXiv 2025年
作者: Xu, Ling Baryshnikov, Yuliy Sung, Cynthia General Robotics Automation Sensing & Perception Lab University of Pennsylvania PhiladelphiaPA United States Department of Mathematics University of Illinois Urbana-Champaign UrbanaIL United States
This paper addresses the Dubins path planning problem for vehicles in 3D space. In particular, we consider the problem of computing CSC paths – paths that consist of a circular arc (C) followed by a straight segment ... 详细信息
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Cooperative Localization and Tracking in Distributed Robot-Sensor Networks
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Tsinghua Science and Technology 2005年 第1期10卷 91-101页
作者: 张帆 Guilherme S.Pereira Vijay Kumar General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA
This paper addresses the problem of real-time position and orientation estimation of networked mobile robots in two-dimensional Euclidean space with simultaneous tracking of a rigid unknown object based on exterocep... 详细信息
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Visual inertial odometry swarm: An autonomous swarm of vision-based quadrotors
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IEEE robotics and automation Letters 2018年 第3期3卷 1801-1807页
作者: Weinstein, Aaron Cho, Adam Loianno, Giuseppe Kumar, Vijay General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania PhiladelphiaPA19104 United States
In this letter, we present the system infrastructure for a swarm of quadrotors, which perform all estimation on board using monocular visual inertial odometry. This is a novel system since it does not require an exter... 详细信息
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Human robot interaction: application to smart wheelchairs
Human robot interaction: application to smart wheelchairs
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IEEE International Conference on robotics and automation (ICRA)
作者: R.S. Rao K. Conn S.H. Jung J. Katupitiya T. Kientz V. Kumar J. Ostrowski S. Patel C.J. Taylor General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia USA General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia USA University of Kentucky General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia
Addresses the problem of human robot interaction with application to the design of assistive devices. We describe the design and development of a prototype of a smart wheelchair that can be commanded by a rider. Speci... 详细信息
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Active perception using Neural Radiance Fields
Active Perception using Neural Radiance Fields
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American Control Conference (ACC)
作者: H. Siming Christopher D. Hsu Dexter Ong Yifei Simon Shao Pratik Chaudhari General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania
We study active perception from first principles to argue that an autonomous agent performing active perception should maximize the mutual information that past observations posses about future ones. Doing so requires... 详细信息
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Identifying Driver Interactions via Conditional Behavior Prediction
Identifying Driver Interactions via Conditional Behavior Pre...
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IEEE International Conference on robotics and automation (ICRA)
作者: Ekaterina Tolstaya Reza Mahjourian Carlton Downey Balakrishnan Vadarajan Benjamin Sapp Dragomir Anguelov General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Waymo
Interactive driving scenarios, such as lane changes, merges and unprotected turns, are some of the most challenging situations for autonomous driving. Planning in interactive scenarios requires accurately modeling the... 详细信息
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A hierarchical, modal approach to hybrid systems control of autonomous robots
A hierarchical, modal approach to hybrid systems control of ...
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IEEE International Workshop on Intelligent Robots and Systems (IROS)
作者: K.A. McIsaac A.K. Das J.M. Esposito J.P. Ostrowski General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA
We propose a hierarchical structure for control of autonomous robots. We draw on ideas from the hybrid systems theory, which describe systems governed by a discrete set of continuous modes of operation and transitions... 详细信息
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Dynamic simulation for grasping and whole arm manipulation
Dynamic simulation for grasping and whole arm manipulation
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IEEE International Conference on robotics and automation (ICRA)
作者: P. Song M. Yashima V. Kumar General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA
We propose a novel approach to dynamic simulation of grasps that overcomes difficulties due to inconsistencies in the forward dynamics problem. The key idea in the paper is a minimalist model of the contact compliance... 详细信息
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New insights into quasi-static and dynamic omnidirectional quadrupedal walking
New insights into quasi-static and dynamic omnidirectional q...
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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)
作者: S. Chitta J.P. Ostrowski General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA
This paper presents several new insights and experimental results on the problem of generating omnidirectional walking gaits for quadrupedal robots. For statically stable gaits, by placing some minor restrictions on h... 详细信息
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Real-time vision-based control of a nonholonomic mobile robot
Real-time vision-based control of a nonholonomic mobile robo...
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IEEE International Conference on robotics and automation (ICRA)
作者: A.K. Das R. Fierro V. Kumar B. Southall J. Spletzer C.J. Taylor General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA
This paper considers the problem of vision-based control of a nonholonomic mobile robot. We describe the design and implementation of real-time estimation and control algorithms on a car-like robot platform using a si... 详细信息
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