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On-demand high-capacity ride-sharing via dynamic trip-vehicle assignment
- Javier Alonso-Mora, S. Samaranayake, Alex Wallar, Emilio Frazzoli, D. Rus
- Computer ScienceProceedings of the National Academy of Sciences
- 3 January 2017
A more general mathematical model for real-time high-capacity ride-sharing that scales to large numbers of passengers and trips and dynamically generates optimal routes with respect to online demand and vehicle locations is presented.
Robust distributed network localization with noisy range measurements
- David C. Moore, J. Leonard, D. Rus, S. Teller
- Computer ScienceACM International Conference on Embedded…
- 3 November 2004
A distributed, linear-time algorithm for localizing sensor network nodes in the presence of range measurement noise is described and the probabilistic notion of robust quadrilaterals is introduced as a way to avoid flip ambiguities that otherwise corrupt localization computations.
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
- Tixiao Shan, Brendan Englot, Drew Meyers, Wei Wang, C. Ratti, D. Rus
- Environmental ScienceIEEE/RJS International Conference on Intelligent…
- 1 July 2020
We propose a framework for tightly-coupled lidar inertial odometry via smoothing and mapping, LIO-SAM, that achieves highly accurate, real-time mobile robot trajectory estimation and map-building.…
Design, fabrication and control of soft robots
This Review discusses recent developments in the emerging field of soft robotics, and explores the design and control of soft-bodied robots composed of compliant materials.
Accurate indoor localization with zero start-up cost
- Swarun Kumar, Stephanie Gil, D. Katabi, D. Rus
- Computer ScienceACM/IEEE International Conference on Mobile…
- 7 September 2014
Ubicarse is an accurate indoor localization system for commodity mobile devices, with no specialized infrastructure or fingerprinting, that enables handheld devices to emulate large antenna arrays using a new formulation of Synthetic Aperture Radar (SAR).
Online power-aware routing in wireless Ad-hoc networks
This paper discusses online power-aware routing in large wireless ad-hoc networks for applications where the message sequence is not known and develops an approximation algorithm called max-min zPmin that has a good empirical competitive ratio.
Global clock synchronization in sensor networks
Three methods to achieve global synchronization in a sensor network are discussed: a node-based approach, a hierarchical cluster- based method, and a fully localized diffusion-based method.
Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]
- Mark H. Yim, Wei-Min Shen, G. Chirikjian
- Computer ScienceIEEE robotics & automation magazine
- 2 April 2007
Several of the key directions for the future of modular self-reconfigurable robotic systems, including the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology are shown.
Deploying sensor networks with guaranteed capacity and fault tolerance
This work designs and analyzes the first algorithms that place an almost-minimum number of additional sensors to augment an existing network into a k-connected network, for any desired parameter k, and proves that the number ofAdditional sensors is within a constant factor of the absolute minimum for any fixed k.
Deep Evidential Regression
- Alexander Amini, Wilko Schwarting, A. Soleimany, D. Rus
- Computer ScienceNeural Information Processing Systems
- 7 October 2019
This paper proposes a novel method for training deterministic NNs to not only estimate the desired target but also the associated evidence in support of that target by placing evidential priors over the original Gaussian likelihood function and training the NN to infer the hyperparameters of the authors' evidential distribution.