Trey Smith
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View article: KnotDLO: Toward Interpretable Knot Tying
KnotDLO: Toward Interpretable Knot Tying Open
This work presents KnotDLO, a method for one-handed Deformable Linear Object (DLO) knot tying that is robust to occlusion, repeatable for varying rope initial configurations, interpretable for generating motion policies, and requires no hu…
View article: Semantic Masking and Visual Feature Matching for Robust Localization
Semantic Masking and Visual Feature Matching for Robust Localization Open
We are interested in long-term deployments of autonomous robots to aid astronauts with maintenance and monitoring operations in settings such as the International Space Station. Unfortunately, such environments tend to be highly dynamic an…
View article: Air-Ground Collaboration With SPOMP: Semantic Panoramic Online Mapping and Planning
Air-Ground Collaboration With SPOMP: Semantic Panoramic Online Mapping and Planning Open
Mapping and navigation have gone hand-in-hand since long before robots\nexisted. Maps are a key form of communication, allowing someone who has never\nbeen somewhere to nonetheless navigate that area successfully. In the context\nof multi-…
View article: Unsupervised Change Detection for Space Habitats Using 3D Point Clouds
Unsupervised Change Detection for Space Habitats Using 3D Point Clouds Open
This work presents an algorithm for scene change detection from point clouds to enable autonomous robotic caretaking in future space habitats. Autonomous robotic systems will help maintain future deep-space habitats, such as the Gateway sp…
View article: Multi-Agent 3D Map Reconstruction and Change Detection in Microgravity with Free-Flying Robots
Multi-Agent 3D Map Reconstruction and Change Detection in Microgravity with Free-Flying Robots Open
Assistive free-flyer robots autonomously caring for future crewed outposts -- such as NASA's Astrobee robots on the International Space Station (ISS) -- must be able to detect day-to-day interior changes to track inventory, detect and diag…
View article: An Investigation of Multi-feature Extraction and Super-resolution with Fast Microphone Arrays
An Investigation of Multi-feature Extraction and Super-resolution with Fast Microphone Arrays Open
In this work, we use MEMS microphones as vibration sensors to simultaneously classify texture and estimate contact position and velocity. Vibration sensors are an important facet of both human and robotic tactile sensing, providing fast de…
View article: I Need Your Help... or Do I?
I Need Your Help... or Do I? Open
Interactive intelligent systems are increasingly being deployed in safety critical contexts like Space Exploration. For humans to safely and successfully complete collaborative tasks with robots in these contexts, they must maintain Situat…
View article: <i>Cronobacter sakazakii</i> Infections in Two Infants Linked to Powdered Infant Formula and Breast Pump Equipment — United States, 2021 and 2022
<i>Cronobacter sakazakii</i> Infections in Two Infants Linked to Powdered Infant Formula and Breast Pump Equipment — United States, 2021 and 2022 Open
Cronobacter sakazakii, a species of gram-negative bacteria belonging to the Enterobacteriaceae family, is known to cause severe and often fatal meningitis and sepsis in young infants. C. sakazakii is ubiquitous in the environment, and most…
View article: Stronger Together: Air-Ground Robotic Collaboration Using Semantics
Stronger Together: Air-Ground Robotic Collaboration Using Semantics Open
In this work, we present an end-to-end heterogeneous multi-robot system framework where ground robots are able to localize, plan, and navigate in a semantic map created in real time by a high-altitude quadrotor. The ground robots choose an…
View article: Abzu: Uncovering the Origin of Ancient Organics on Mars
Abzu: Uncovering the Origin of Ancient Organics on Mars Open
I. Ancient Mars is a key target for life-detection missions.Identifying evidence of ancient Martian life would revolutionize our understanding of terrestrial biological processes and predictions for the likelihood of life elsewhere in the …
View article: Any Way You Look at It: Semantic Crossview Localization and Mapping With LiDAR
Any Way You Look at It: Semantic Crossview Localization and Mapping With LiDAR Open
Currently, GPS is by far the most popular global localization method.\nHowever, it is not always reliable or accurate in all environments. SLAM\nmethods enable local state estimation but provide no means of registering the\nlocal map to a …
View article: NeoGeographyToolkit/StereoPipeline 2.7.0
NeoGeographyToolkit/StereoPipeline 2.7.0 Open
The NASA Ames Stereo Pipeline is a suite of automated geodesy & stereogrammetry tools designed for processing planetary images captured from orbiting and landed robotic explorers on other planets.
View article: Thermal Design of Astrobee Perching Arm
Thermal Design of Astrobee Perching Arm Open
This paper presents the thermal design of actuators in the perching arm of Astrobee robot that will operate inside the International Space Station (ISS) in starting 2019. Since the crew's safety is of the utmost importance on the ISS, all …
View article: Trajectory Optimization On Manifolds with Applications to SO(3) and R3XS2
Trajectory Optimization On Manifolds with Applications to SO(3) and R3XS2 Open
Manifolds are used in almost all robotics applications even if they are not explicitly modeled.We propose a differential geometric approach for optimizing trajectories on a Riemannian manifold with obstacles.The optimization problem depend…
View article: Astrobee: A New Tool for ISS Operations
Astrobee: A New Tool for ISS Operations Open
Astrobee is a new class of free-flying robots that operate in the interior of the International Space Station (ISS). In addition to providing a research platform for zero-g free-flying robotics (replacing the Synchronized Position Hold Eng…
View article: Handrail detection and pose estimation for a free-flying robot
Handrail detection and pose estimation for a free-flying robot Open
We present a handrail detection and pose estimation algorithm for the free-flying Astrobee robots that will operate inside the International Space Station. The Astrobee will be equipped with a single time-of-flight depth sensor and a compl…
View article: Going Undrafted: Survival of Undrafted Free Agents and Seventh Round Draft Picks in the NFL
Going Undrafted: Survival of Undrafted Free Agents and Seventh Round Draft Picks in the NFL Open
Over the years there have been a lot of undrafted free agents that have had successful careers in the NFL. The monopsony structure for rookies entering the NFL and the fact that undrafted free agents get to pick what team they play for sug…
View article: Automatic boosted flood mapping from satellite data
Automatic boosted flood mapping from satellite data Open
Numerous algorithms have been proposed to map floods from Moderate Resolution Imaging Spectroradiometer (MODIS) imagery. However, most require human input to succeed, either to specify a threshold value or to manually annotate training dat…