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This paper describes a new model for understanding natural language commands given to autonomous systems that perform navigation and mobile manipulation in semi-structured environments. Previous approaches have used models with fixed structure to infer the likelihood of a sequence of actions given the environment and the command. In contrast, our framework,… (More)

— The Rapidly-exploring Random Tree (RRT) algorithm , based on incremental sampling, efficiently computes motion plans. Although the RRT algorithm quickly produces candidate feasible solutions, it tends to converge to a solution that is far from optimal. Practical applications favor " anytime " algorithms that quickly identify an initial feasible plan,… (More)

— This paper describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of underwater vehicles while exploiting the inertial sensor information that is routinely available on such platforms. We present a novel strategy for efficiently accessing and maintaining… (More)

Recent research concerning the Gaussian canonical form for Simultaneous Localization and Mapping (SLAM) has given rise to a handful of algorithms that attempt to solve the SLAM scalability problem for arbitrarily large environments. One such estimator that has received due attention is the Sparse Extended Information Filter (SEIF) by Thrun et al., which is… (More)

This paper describes the architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or incomplete map data. The vehicle architecture was designed to handle the original DARPA Urban Challenge requirements of perceiving and navigating a road network with… (More)

— Rapidly-exploring Random Trees (RRTs) are widely used to solve large planning problems where the scope prohibits the feasibility of deterministic solvers, but the efficiency of these algorithms can be severely compromised in the presence of certain kinodynamics constraints. Obstacle fields with tunnels, or tubes are notoriously difficult, as are systems… (More)

A s robots move out of the lab and into the real world, it is critical to develop ways for human users to easily and flexibly command them. Natural language dialogue is a compelling solution to this problem because the operator can flexibly express complex requirements, enabling interaction with the robot as if it were another human. In order to engage… (More)

— Recently, there have been a number of variant Simultaneous Localization and Mapping (SLAM) algorithms that have made substantial progress towards large-area scalability by parameterizing the SLAM posterior within the information (canonical/inverse covariance) form. Of these, probably the most well-known and popular approach is the Sparse Extended… (More)

— We present an algorithm for finding a single cluster of well-connected nodes in a graph. The general problem is NP-hard, but our algorithm produces an approximate solution in O(n 2) by considering the spectral properties of the graph's adjacency matrix. We show how this algorithm can be used to find sets of self-consistent hypotheses while rejecting… (More)