Cameras provide a rich source of information while being passive, cheap and lightweight for small and medium Unmanned Aerial Vehicles (UAVs). In this work we present the first implementation of receding horizon control, which is widely used in ground …
We present a simple approach for producing a small number of structured visual outputs which have high recall, for a variety of tasks including monocular pose estimation and semantic scene segmentation. Current state-of-the-art approaches learn a …
In a variety of real world problems from robot navigation to logistics, agents face the challenge of path optimization on a graph with unknown edge costs. These settings can be generally formalized as the Canadian Traveler Problems (CTPs). Although …
Many prediction domains, such as ad placement, recommendation, trajectory prediction, and document summarization, require predicting a set or list of options. Such lists are often evaluated using submodular reward functions that measure both quality …
Autonomous navigation for large Unmanned Aerial Vehicles (UAVs) is fairly straight-forward, as expensive sensors and monitoring devices can be employed. In contrast, obstacle avoidance remains a challenging task for Micro Aerial Vehicles (MAVs) which …
This paper demonstrates the feasibility of recovering fine-scale plant structure in 3D point clouds by leveraging recent advances in structure from motion and 3D point cloud segmentation techniques. The proposed pipeline is designed to be applicable …
Sequence optimization, where the items in a list are ordered to maximize some reward has many applications such as web advertisement placement, search, and control libraries in robotics. Previous work in sequence optimization produces a static …
A popular approach to high dimensional control problems in robotics uses a library of candidate “maneuvers” or “trajectories”. The library is either evaluated on a fixed number of candidate choices at runtime (e.g. path set selection for planning) or …