Research

Current Research Activities:

 

– Continuous Coverage Motion for Constrained Manipulation

  • Sean McGovern and Jing Xiao, “Efficient Feasibility Checking on Continuous Coverage Motion for Constrained Manipulation,” IEEE International Conference on Automation Science and Engineering, August 2021.

– Complex manipulation combining perception, planning, and learning

– Learning object properties through perception and manipulation

  • S. McGovern, H. Mao and J. Xiao, “Learning to Estimate Centers of Mass of Arbitrary Objects,” 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, pp. 1848-1853.
  • S. McGovern and J. Xiao, “Learning and Predicting Center of Mass through Manipulation and Torque Sensing,” 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE), 2022, pp. 60-66.

– Real-time adaptive motion planning with learning-based optimization

– Semantic SLAM with object recognition and localization

  • Zhentian Qian, Kartik Patath, Jie Fu, and Jing Xiao, “Semantic SLAM with Autonomous Object-Level Data Association,” IEEE International Conference on Robotics and Automation, May 2021.
  • Z. Qian, J. Fu, and J. Xiao, “Towards Accurate Loop Closure Detection in Semantic SLAM with 3D Semantic Covisibility Graphs,”Robotics and Automation Letters and ICRA 2022.