OVERVIEW

The objective of the Multiple Autonomous Robotic Systems (MARS) Laboratory is to promote basic research and education in robotics and computer vision with special emphasis on estimation and control of autonomous ground, aerial, and space exploration vehicles.

Researchers in our group have a diverse background in Computer Science and Engineering, Electrical Engineering, Aerospace Engineering, Industrial Engineering, and Physics.

The research interests of our group are on resource-aware estimation and control, including:

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SLAM

  • Vision/Laser-aided inertial navigation systems (VINS, RGBD-INS, LINS)

  • Large-scale 3D localization and mapping on cell phones and wearable computers

  • Multi-robot/sensor localization, mapping, and navigation

  • Active sensing for reconfigurable networks of sensors

  • Optimal information selection and fusion

  • Mobile manipulation

  • Human-robot cooperation

VIDEOS

NEWS:

  • Jun. 26 2014: MARS lab researchers appear in the new Google "Project Tango" video [Video]

  • Apr. 24 2014: MARS lab alum Guoquan (Paul) Huang accepted a tenure-track position as Assistant Professor at the Univ. of Delaware starting this Fall. Congratulations!

  • Apr. 18 2014: MARS lab alum Joel Hesch featured in video "Project Tango: NASA SPHERES" describing Google ATAP's collaboration with the NASA Ames Research Center to integrate a Project Tango prototype onto a robotic platform, called SPHERES, that flies inside the International Space Station [Video]

  • Apr. 2 2014: Congratulations to Nikolas Trawny, former MARS Lab member and now Task Lead of JPL's Autonomous Landing and Hazard Avoidance Technology (ALHAT), the ALHAT team at JPL and the NASA cross-center team for the first ever successful testing of autonomous hazard detection onboard a NASA rocket, the Morpheus lander! [Video 1] [Video 2].
    Nikolas is also involved in the Lander Vision System (LVS) for terrain relative navigation on Mars [Picture]

  • Apr. 2 2014: BestTechie article about UMN's MARS Lab and "Project Tango" [Article]

  • Mar. 31 2014: "Project Tango" onboard a Quadrotor [Video]

  • Mar. 28 2014: Congratulations to Anastasios Mourikis (former MARS Lab member, now at UC Riverside) for been promoted to to Associate Professor with tenure!

  • Mar. 15 2014: Star Tribune article about UMN's MARS Lab and "Project Tango" [Article]

  • Mar. 11 2014: MN Daily article about UMN's MARS Lab and "Project Tango" [Article]

  • Mar. 4 2014: Ryan Dutoit talks about "Project Tango" at Channel 5 Eyewitness news. [Video]

RESEARCH NEWS & AWARDS:

  • Nov. 7 '13: Esha Nerurkar is the IROS'13 Best Student Paper Award Finalist for the paper: E.D. Nerurkar and S.I. Roumeliotis, "A Communication-Bandwidth-Aware Hybrid Estimation Framework for Multi-robot Cooperative Localization," In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'13), Tokyo, Japan, Nov. 3-7 2013

  • "NRI Large: Collaborative Research: Human-robot Coordinated Manipulation and Transportation of Large Objects", Stergios Roumeliotis (PI), Demoz Gebre-Egziabher (UMN), Paul Oh (Drexel Univ.), Ioannis Poulakakis (Univ. of Delaware), Steven LaValle (UIUC), Vijay Kumar, and Daniel Lee (UPenn). NSF National Robotics Initiative program 10/01/13-09/30/18.

  • "Robotics-Mobile Robot Navigation", Stergios Roumeliots, UMN and Bart Goldestein, Advanced Scientific Concepts Inc., NASA STTR 07/01/13-05/01/14.

  • "Robust, Building Scale Odometry, Mapping, and Relocalization on a Mobile Platform," Stergios Roumeliotis and Yousef Saad. Google-Motorola Mobility Advanced Technology and Projects (ATAP), "Project Tango" 05/13/13-12/31/14.

  • May '12: E. Nerurkar receives the UMN Doctoral Dissertation Fellowship Award

  • Mar. 31 '12: Stergios Roumeliotis and Karsten Berns were organizers of the session "Robotics for Hazardous Environments" in the National Academy Of Engineering (NAE) and Alexander von Humboldt Foundation (AvH), German-American Frontiers of Engineering (GAFOE) Symposium, Postdam Germany, March 29-31, 2012.

  • "RI: Large: Collaborative Research: A Robotic Network for Locating and Removing Invasive Carp from Inland Lakes" Volkan Isler (PI), Stergios Roumeliotis, and Peter Sorenson, NSF, 08/01/11-07/31/14.

  • May '11: J. Hesch receives the UMN Doctoral Dissertation Fellowship Award

  • CHASE: Control of Heterogeneous Autonomous Sensors for Situational Awareness", Ali Jadbabaie, Dan Koditschek (PI), Vijay Kumar, Alejandro Ribeiro (UPenn), Kannan Ramachandran, Shankar Sastry, Claire Tomlin (UC Berkeley), Stergios Roumeliotis and Nihar Jindal (UMN), AFOSR FY 2010 MURI Topic #18 Control of Information Collection and Fusion, 10/01/10-09/30/15.

  • Jul. 1 '09: RSS'09 Best Paper Award Finalist for the paper: G.P. Huang, N. Trawny, A.I. Mourikis, and S.I. Roumeliotis, “On the Consistency of Multirobot Cooperative Localization,” In Proc. Robotics: Science and Systems Conference (RSS'09), Seattle, WA, June 28 - July 1, 2009.

  • Apr. '09: TRO '09' King-Sun Fu Best Paper Award for the paper: A.I. Mourikis, N. Trawny, S.I. Roumeliotis, A. Johnson, A. Ansar, and L. Matthies, "Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing", IEEE Transactions on Robotics, 25(2), Apr. 2009, pp. 264-280.

  • May 16 '09: Esha Nerurkar is the ICRA'09 Best Student Paper Award Finalists for the paper: E.D. Nerurkar, S.I. Roumeliotis, and A. Martinelli, "Distributed Maximum A Posteriori Estimation for Multi-robot Cooperative Localization,'' In Proc. IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, Japan, May 12-17 2009, pp. 1402-1409. [Picture] [Certificate]

  • Dec. 19 '08: Prof. Roumeliotis receives the NSF Presidential Early Career Award for Scientists and Engineers (PECASE). White House News Anouncement [Press Release] [NSF link].

  • Sep. 15 '08: New NSF grant: "CDI-Type II: Collaborative Research: Cyber Enhancement of Spatial Cognition for the Visually Impaired" [NSF - award abstract].

  • July 22 '08: New NSF grant: "RI-Small: Motion-induced Extrinsic Calibration of
    Rigid and Reconfigurable Networks of Sensors" [NSF - award abstract].

  • May 2 '08: F. Mirzaei receives the UMN Doctoral Dissertation Fellowship Award

  • Oct. '07: Xun (Sam) Zhou and Prof. Roumeliotis are the IROS'06 Best Paper Award Finalists for the paper: X.S. Zhou and S.I. Roumeliotis, "Multi-robot SLAM with Unknown Initial Correspondence: The Robot Rendezvous Case" , In Proc. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, Oct. 9-15, pp. 1785-1792.

  • Aug. '07: 3 MARS Lab students receive UMN/CSE Excellence in Research Awards - (i) Joel Hesch for the paper: J. Hesch and S.I. Roumeliotis, "An Indoor Localization Aid for the Visually Impaired,'' In Proc. 2007 IEEE International Conference on Robotics and Automation (ICRA'07), Rome, Italy, Apr. 10-14, pp. 3545-3551. - (ii) Faraz Mirzaei for the paper: F.M. Mirzaei, A.I. Mourikis, and S.I. Roumeliotis "On the Performance of Multi-robot Target Tracking,'' In Proc. 2007 IEEE International Conference on Robotics and Automation (ICRA'07), Rome, Italy, Apr. 10-14, pp. 3482-3489. - (iii) Xun (Sam) Zhou for the paper: X.S. Zhou and S.I. Roumeliotis, "Determining the Robot-to-Robot Relative Pose using Range-only Measurements,'' In Proc. 2007 IEEE International Conference on Robotics and Automation (ICRA'07), Rome, Italy, Apr. 10-14, pp. 4025-4031.

  • July '07: Prof. Roumeliotis is the co-recipient of the Best Journal Paper Award of the Robotics Society of Japan for the paper: D.M. Helmick, S.I. Roumeliotis, Y. Chang, D.S. Clouse, M. Bajracharya, and L. Matthies, "Slip-Compensated Path Following for Planetary Exploration Rovers" , Advanced Robotics , (20)11, Nov. 2006, pp. 4782-4795.

  • July '07: Joel Hesch receives the NIH Neuro-Physical-Computational Sciences Training Fellowship Award

  • May 1 '07: A.I. Mourikis receives the UMN Doctoral Dissertation Fellowship Award

  • Jan. 4 '07: Prof. Roumeliotis receives the NSF CAREER Award for the proposal "CAREER: Distributed Estimation and Active Sensing with Mobile Robot Networks" [NSF - award abstract].

  • June '06: N. Trawny receives the UMN/CSE Guidant Excellence in Research Award for the paper: N. Trawny and S.I. Roumeliotis, "A Unified Framework for Nearby and Distant Landmarks in Bearing-Only SLAM,'' In Proc. 2006 IEEE International Conference on Robotics and Automation (ICRA'06), Orlando, FL, May 15-19, pp. 1923-29.

  • June '06: A.I. Mourikis receives the UMN/CSE Excellence in Research Award for the paper: A.I. Mourikis and S.I. Roumeliotis, "Optimal Sensor Scheduling for Resource-Constrained Localization of Mobile Robot Formations,'' IEEE Transactions on Robotics, 22(5), Oct. 2006, pp. 917-931.

  • Apr. 18 '06: One NASA Center Best Award - Team award to the JPL, NASA Ames, Carnegie Mellon University, and University of Minnesota development team of the Coupled Layer Architecture for Robotic Autonomy (CLARAty). Center: Jet Propulsion Laboratory [05/18/06 local copy of JPL Universe].

  • Mar. 9 '06: One NASA Peer Award - Team award to the JPL, NASA Ames, Carnegie Mellon University, and University of Minnesota development team of the Coupled Layer Architecture for Robotic Autonomy (CLARAty). In recognition of the accomplishment of creating and applying a software framework for integrating innovations in robotics into rapid insertion into NASA's flight missions [03/24/06 local copy of JPL Universe].

  • Dec. '05: Prof. Roumeliotis receives the McKnight Land-Grant Professorship award [link].

  • June '05: A.I. Mourikis receives the UMN/CSE Excellence in Research Award for the paper: A.I. Mourikis and S.I. Roumeliotis, "Performance Bounds for Cooperative Simultaneous Localization and Mapping (C-SLAM)," In Proc. Robotics: Science and Systems Conference (RSS'05), Cambridge, MA, June 8-11, 2005, pp. 73-80.

  • Mar. 20-22 '05: Packbot stair climbing demo at SSR-RC Spring Symposium, Tampa, FL (video).

  • Feb. 15 '05: Packbot stair climbing v0.1 (video1, video2, video3, video4).

 

 

 

 
 
 
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