Projects & Teams

Ongoing research projects at the ARIA lab are grouped into 4 main thrusts:

Each thrust aims to address the issues and challenges that state-of-the-art (SOTA) robotic technologies are currently facing, as explained below. 

Thrust 1: Robust Perception

Issues:

Our solutions & research plans:

 

Sample publications:

P. Lusk, K. Fathian, J. How, "CLIPPER: A Graph-Theoretic Framework for Robust Data Association," IEEE International Conference on Robotics and Automation, 2021, Xian, China.

P. Lusk, K. Fathian, J. P. How, “MIXER: Multiattribute, Multiway Fusion of Uncertain Pairwise Affinities,” IEEE Robotics and Automation Letters, 2022.

K. Fathian, K. Khosoussi, Y. Tian, P. Lusk, J. How, “CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-View Data Association,” IEEE Transactions on Robotics, 2020.

Thrust 2: Robust Spatial AI

Issues: Standard Simultaneous Localization and Mapping (SLAM) pipelines lack robustness to

Our solutions & research plans:

Sample publications:

J. Ankenbauer, K. Fathian, J. How, "View-Invariant Localization using Semantic Objects in Changing Environments," arXiv:2209.14426, 2023.

Thrust 3: Resilient Internet of Robots

Issues: The Internet of Robotic Things (IoRT) is a new field with challenges such as

Our solutions & research plans:

Sample publications:

P. Lusk, X. Cai, S. Wadhwania, A. Paris, K. Fathian, J. How “A Distributed Pipeline for Scalable, Deconflicted Formation Flying,”  IEEE Robotics and Automation Letters, 2020.

K. Fathian, S. Safaoui, T. H. Summers, N. R. Gans, “Robust Distributed Planar Formation Control for Higher-Order Holonomic and Nonholonomic Agents”  IEEE Transactions on Robotics, 2020.

Thrust 4: Field Robotics

Issues: Standalone perception or planning algorithms do not consider closed-loop behavior

Our solutions & research plans: