Lillian Clark
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View article: An Addendum to NeBula: Toward Extending Team CoSTAR’s Solution to Larger Scale Environments
An Addendum to NeBula: Toward Extending Team CoSTAR’s Solution to Larger Scale Environments Open
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. Specifically, this paper presents exte…
View article: Correction to “A Queue-Stabilizing Framework for Networked Multi-Robot Exploration” [Apr 21 2091-2098]
Correction to “A Queue-Stabilizing Framework for Networked Multi-Robot Exploration” [Apr 21 2091-2098] Open
Section III-F in [1] made formal claims about the limiting behavior of the controller (as time and space grow to infinity) whose proof relied on a stochastic network optimization theorem which may not apply. Specifically, we cannot make th…
View article: SMILE: Robust Network Localization via Sparse and Low-Rank Matrix Decomposition
SMILE: Robust Network Localization via Sparse and Low-Rank Matrix Decomposition Open
Motivated by collaborative localization in robotic sensor networks, we consider the problem of large-scale network localization where location estimates are derived from inter-node radio signals. Well-established methods for network locali…
View article: ACHORD: Communication-Aware Multi-Robot Coordination With Intermittent Connectivity
ACHORD: Communication-Aware Multi-Robot Coordination With Intermittent Connectivity Open
Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., s…
View article: PropEM-L: Radio Propagation Environment Modeling and Learning for Communication-Aware Multi-Robot Exploration
PropEM-L: Radio Propagation Environment Modeling and Learning for Communication-Aware Multi-Robot Exploration Open
Multi-robot exploration of complex, unknown environments benefits from the collaboration and cooperation offered by inter-robot communication.Accurate radio signal strength prediction enables communication-aware exploration.Models which ig…
View article: ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity
ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity Open
Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., s…
View article: PropEM-L: Radio Propagation Environment Modeling and Learning for Communication-Aware Multi-Robot Exploration
PropEM-L: Radio Propagation Environment Modeling and Learning for Communication-Aware Multi-Robot Exploration Open
Multi-robot exploration of complex, unknown environments benefits from the collaboration and cooperation offered by inter-robot communication. Accurate radio signal strength prediction enables communication-aware exploration. Models which …
View article: Privacy-Utility Trades in Crowdsourced Signal Map Obfuscation
Privacy-Utility Trades in Crowdsourced Signal Map Obfuscation Open
Cellular providers and data aggregating companies crowdsource celluar signal strength measurements from user devices to generate signal maps, which can be used to improve network performance. Recognizing that this data collection may be at…
View article: TEAM: Trilateration for Exploration and Mapping with Robotic Networks
TEAM: Trilateration for Exploration and Mapping with Robotic Networks Open
Motivated by lunar exploration, we consider deploying a network of mobile robots to explore an unknown environment while acting as a cooperative positioning system. Robots measure and communicate position-related data in order to perform l…