Robust perception is essential for the deployment of autonomous underwater robots. However, optical cameras become unreliable under poor illumination and backscatter. Forward looking (2D) acoustic sensors remain effective under these conditions, but they measure range and bearing while leaving elevation unresolved, cre...
T. Dong, Zhen-Qiu Wu, Aditya Penumarti et al.· 2 citations
Diffusion models provide expressive trajectory priors for multi-robot motion planning (MRMP), but scaling them to large teams requires coordinating individual motions without expensive joint computation. We introduce Akule, a sparse interaction diffusion framework that augments a frozen single-robot prior with three le...
Manav Vora, Gokul Puthumanaillam, Aditya Penumarti et al.· 0 citations
Sonars generate a significant amount of noise. With the advent of new technology capable of producing full 3D point clouds, the noise is amplified in sparse point clouds, making it challenging to recognize features for navigation, recognition, or reconstruction. To address this challenge, we propose using two different...
Aditya Penumarti, Khanh Dong, Zi-Hao Zhang et al.· 2 citations
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