Publications

Paper: Dual Online Stein Variational Inference for Control and Dynamics

RSS (Robotics: Science and Systems Conference) is arguably one of the most prestigious and selective conferences in robotics. This year […]

Paper: PROMPT: Probabilistic Motion Primitives based Trajectory Planning

RSS (Robotics: Science and Systems Conference) is arguably one of the most prestigious and selective conferences in robotics. This year […]

Paper: Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling

Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling ICRA 2021 LiDAR-based Place Recognition enables the estimation of a globally consistent map […]

Paper: Comparing direct and indirect representations for environment-specific robot component design

We compare two representations used to define the morphology of legs for a hexapod robot, which are subsequently 3D printed. […]

Paper: Scalable Detection and Tracking of Extended Objects

This paper presents a factor graph formulation and sum-product algorithm (SPA) for scalable detection and tracking of extended objects that […]

Paper: New biological morphogenetic methods for evolutionary design of robot bodies

We present some currently unused morphogenetic mechanisms from evolutionary biology and guidelines for transfer to evolutionary robotics. DNA patterns providing […]

Paper: Bernoulli Filter for Track-Before-Detect: Swerling-1 Target in K-distributed Clutter

In this paper, we investigate the problem of detecting and tracking small targets in sea clutter using the Bernoulli Track-Before-Detect […]

Paper: A Comparative Study of Track-Before-Detect Algorithms in Radar Sea Clutter

The detection and tracking of targets in the maritime environment can be a challenging problem. One approach to improve the […]

Paper: Wheeled Rovers with Posable Hubs for Terrestrial and Extraterrestrial Exploration

Space exploration and work such as search and rescue or resource mining is dangerous and often unsuited to manned platforms […]

Paper: Alert-Confirm Track Confirmation for Radar

Alert-confirm detection is a refinement of sequential detection that has been popular for electronically-scanned-array radar since its discovery in the […]