Simultaneous localization and map** (SLAM) is the process of constructing a global
model of an environment from local observations of it; this is a foundational capability for …

Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs).
For stable visual navigation, MAVs should generate perception-aware paths which …

Assisting individuals in their daily activities through autonomous mobile robots is a
significant concern, especially for users without specialized knowledge. Specifically, the …

Autonomous navigation in a large, complex space requires a spatial model, but the
construction of a detailed map is costly. This paper demonstrates how two kinds of …

A planner for indoor navigation in an unknown space should anticipate the perils of sensor
and actuator errors. The approach described here uses a spatial model whose elements …

While existing robotic systems predominantly rely on geometric information to inform robot
navigation, non-geometric information, such as object-level maps and overhead imagery …

Autonomous indoor navigation is an important task for mobile robots deployed without a
map in real-world environments, such as museums or offices. While it travels, an …

As we move towards fully autonomous robotic systems, one of the key challenges is the
integration of state-of-the-art perception techniques in machine learning and computer …

The way an agent chooses to represent the world around it is fundamental to its ability to
effectively interact with it. The work presented in this thesis is centered around the …