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ORCIDBrendan J. Englot
Person information
- affiliation: Stevens Institute of Technology, Department of Mechanical Engineering, Hoboken, NJ, USA
- affiliation: United Technologies Research Center, East Hartford, CT, USA
- affiliation: Yale University, Department of Mechanical Engineering, New Haven, CT, USa
- affiliation: Massachusetts Institute of Technology, Department of Mechanical Engineering, Cambridge, MA, USA
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2020 – today
- 2024
[j13]Yewei Huang
, Xi Lin, Mariana Hernandez-Rocha, Sanjai Narain, Kishore Pochiraju, Brendan J. Englot:
Mission-Oriented Gaussian Process Motion Planning for UUVs Over Complex Seafloor Terrain and Current Flows. IEEE Robotics Autom. Lett. 9(2): 1780-1787 (2024)- [i31]Xi Lin, Yewei Huang, Fanfei Chen, Brendan J. Englot:
Decentralized Multi-Robot Navigation for Autonomous Surface Vehicles with Distributional Reinforcement Learning. CoRR abs/2402.11799 (2024) - [i30]Yewei Huang, Xi Lin, Brendan J. Englot:
Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization. CoRR abs/2403.04021 (2024) - [i29]Ivana Collado-Gonzalez, John McConnell, Jinkun Wang, Paul Szenher, Brendan J. Englot:
Real-Time Planning Under Uncertainty for AUVs Using Virtual Maps. CoRR abs/2403.04936 (2024) - [i28]Kevin J. Doherty, Alan Papalia, Yewei Huang, David M. Rosen, Brendan J. Englot, John J. Leonard:
MAC: Maximizing Algebraic Connectivity for Graph Sparsification. CoRR abs/2403.19879 (2024) - 2023
- [j12]Xi Lin, Yewei Huang, Dingyi Sun, Tzu-Yuan Lin, Brendan J. Englot, Ryan M. Eustice, Maani Ghaffari:
A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios. IEEE Access 11: 97239-97249 (2023) - [c48]Sanjai Narain, Dana Chee, Pranav Iyer, Emily Mak, Ricardo Valdez, Manli Zhu, Niraj K. Jha, Jaime F. Fisac, Kai-Chieh Hsu, Prerit Terway, Kishore Pochiraju, Brendan J. Englot, Emil Pitz, Sean Rooney, Yewei Huang:
AIMED: AI-Mediated Exploration of Design: An Experience Report. CPS-IoT Week Workshops 2023: 136-140 - [c47]Kyle M. Hart, Brendan J. Englot, Ryan P. O'Shea, John D. Kelly, David Martinez:
Monocular Simultaneous Localization and Mapping using Ground Textures. ICRA 2023: 2032-2038 - [c46]Xi Lin, John McConnell, Brendan J. Englot:
Robust Unmanned Surface Vehicle Navigation with Distributional Reinforcement Learning. IROS 2023: 6185-6191 - [i27]Kyle M. Hart, Brendan J. Englot, Ryan P. O'Shea, John D. Kelly, David Martinez:
Monocular Simultaneous Localization and Mapping using Ground Textures. CoRR abs/2303.05946 (2023) - [i26]Xi Lin, Paul Szenher, John D. Martin, Brendan J. Englot:
Robust Route Planning with Distributional Reinforcement Learning in a Stochastic Road Network Environment. CoRR abs/2304.09996 (2023) - [i25]Xi Lin, John McConnell, Brendan J. Englot:
Robust Unmanned Surface Vehicle Navigation with Distributional Reinforcement Learning. CoRR abs/2307.16240 (2023) - [i24]Erik Pearson, Brendan J. Englot:
A Robust and Rapidly Deployable Waypoint Navigation Architecture for Long-Duration Operations in GPS-Denied Environments. CoRR abs/2308.05620 (2023) - [i23]Erik Pearson, Paul Szenher, Christine Huang, Brendan J. Englot:
Mobile Manipulation Platform for Autonomous Indoor Inspections in Low-Clearance Areas. CoRR abs/2309.10794 (2023) - 2022
- [j11]Yewei Huang, Tixiao Shan, Fanfei Chen, Brendan J. Englot:
DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization. IEEE Robotics Autom. Lett. 7(2): 1150-1157 (2022) - [j10]John McConnell, Fanfei Chen, Brendan J. Englot:
Overhead Image Factors for Underwater Sonar-Based SLAM. IEEE Robotics Autom. Lett. 7(2): 4901-4908 (2022) - [j9]Erik Pearson, Kevin J. Doherty, Brendan J. Englot:
Improving obstacle boundary representations in predictive occupancy mapping. Robotics Auton. Syst. 153: 104077 (2022) - [j8]Sanjai Narain, Emily Mak, Dana Chee, Brendan J. Englot, Kishore Pochiraju, Niraj K. Jha, Karthik S. Narayan:
Fast Design Space Exploration of Nonlinear Systems: Part I. IEEE Trans. Comput. Aided Des. Integr. Circuits Syst. 41(9): 2970-2983 (2022) - [c45]John McConnell, Yewei Huang, Paul Szenher, Ivana Collado-Gonzalez, Brendan J. Englot:
DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams. IROS 2022: 8457-8464 - [e1]Jinwhan Kim, Brendan J. Englot, Hae-Won Park, Han-Lim Choi, Hyun Myung, Junmo Kim, Jong-Hwan Kim:
Robot Intelligence Technology and Applications 6 - Results from the 9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021, Daejeon, South Korea, 16-17 December, 2021. Lecture Notes in Networks and Systems 429, Springer 2022, ISBN 978-3-030-97671-2 [contents] - [i22]John McConnell, Fanfei Chen, Brendan J. Englot:
Overhead Image Factors for Underwater Sonar-based SLAM. CoRR abs/2202.05811 (2022) - [i21]Jinkun Wang, Fanfei Chen, Yewei Huang, John McConnell, Tixiao Shan, Brendan J. Englot:
Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments. CoRR abs/2202.08359 (2022) - [i20]Jiawei Meng, Ankita Humne, Richard Bucknall, Brendan J. Englot, Yuanchang Liu:
A Fully-autonomous Framework of Unmanned Surface Vehicles in Maritime Environments using Gaussian Process Motion Planning. CoRR abs/2204.10826 (2022) - [i19]John McConnell, Yewei Huang, Paul Szenher, Ivana Collado-Gonzalez, Brendan J. Englot:
DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams. CoRR abs/2210.00867 (2022) - 2021
- [c44]Fanfei Chen, Paul Szenher, Yewei Huang, Jinkun Wang, Tixiao Shan, Shi Bai, Brendan J. Englot:
Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration Under Uncertainty. ICRA 2021: 5193-5199 - [c43]Tixiao Shan, Brendan J. Englot, Fábio Duarte, Carlo Ratti, Daniela Rus:
Robust Place Recognition using an Imaging Lidar. ICRA 2021: 5469-5475 - [c42]Tixiao Shan, Brendan J. Englot, Carlo Ratti, Daniela Rus:
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping. ICRA 2021: 5692-5698 - [c41]John McConnell, Brendan J. Englot:
Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference. ICRA 2021: 6761-6767 - [c40]Yin M. Chen, Brendan J. Englot:
Mobility Hierarchy and Simulation of a Modular, Reconfigurable, Tetrahedral Robot System. RiTA 2021: 129-141 - [i18]Tixiao Shan, Brendan J. Englot, Fabio Duarte, Carlo Ratti, Daniela Rus:
Robust Place Recognition using an Imaging Lidar. CoRR abs/2103.02111 (2021) - [i17]Sanjai Narain, Emily Mak, Dana Chee, Brendan J. Englot, Kishore Pochiraju, Niraj K. Jha, Karthik S. Narayan:
Fast Design Space Exploration of Nonlinear Systems: Part I. CoRR abs/2104.01747 (2021) - [i16]John McConnell, Brendan J. Englot:
Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference. CoRR abs/2104.03203 (2021) - [i15]Tixiao Shan, Brendan J. Englot, Carlo Ratti, Daniela Rus:
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping. CoRR abs/2104.10831 (2021) - [i14]Fanfei Chen, Paul Szenher, Yewei Huang, Jinkun Wang, Tixiao Shan, Shi Bai, Brendan J. Englot:
Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration Under Uncertainty. CoRR abs/2105.04758 (2021) - 2020
- [j7]Tixiao Shan, Jinkun Wang, Fanfei Chen, Paul Szenher, Brendan J. Englot:
Simulation-based lidar super-resolution for ground vehicles. Robotics Auton. Syst. 134: 103647 (2020) - [c39]Tixiao Shan, Wei Wang, Brendan J. Englot, Carlo Ratti, Daniela Rus:
A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways. CDC 2020: 4085-4092 - [c38]John D. Martin, Michal Lyskawinski, Xiaohu Li, Brendan J. Englot:
Stochastically Dominant Distributional Reinforcement Learning. ICML 2020: 6745-6754 - [c37]John McConnell, John D. Martin, Brendan J. Englot:
Fusing Concurrent Orthogonal Wide-aperture Sonar Images for Dense Underwater 3D Reconstruction. IROS 2020: 1653-1660 - [c36]John D. Martin, Kevin J. Doherty, Caralyn Cyr, Brendan J. Englot, John J. Leonard:
Variational Filtering with Copula Models for SLAM. IROS 2020: 5066-5073 - [c35]Tixiao Shan, Brendan J. Englot, Drew Meyers, Wei Wang, Carlo Ratti, Daniela Rus:
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping. IROS 2020: 5135-5142 - [c34]Fanfei Chen, John D. Martin, Yewei Huang, Jinkun Wang, Brendan J. Englot:
Autonomous Exploration Under Uncertainty via Deep Reinforcement Learning on Graphs. IROS 2020: 6140-6147 - [i13]Tixiao Shan, Jinkun Wang, Fanfei Chen, Paul Szenher, Brendan J. Englot:
Simulation-based Lidar Super-resolution for Ground Vehicles. CoRR abs/2004.05242 (2020) - [i12]Tixiao Shan, Brendan J. Englot, Drew Meyers, Wei Wang, Carlo Ratti, Daniela Rus:
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping. CoRR abs/2007.00258 (2020) - [i11]Tixiao Shan, Wei Wang, Brendan J. Englot, Carlo Ratti, Daniela Rus:
A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways. CoRR abs/2007.08362 (2020) - [i10]John McConnell, John D. Martin, Brendan J. Englot:
Fusing Concurrent Orthogonal Wide-aperture Sonar Images for Dense Underwater 3D Reconstruction. CoRR abs/2007.10407 (2020) - [i9]Fanfei Chen, John D. Martin, Yewei Huang, Jinkun Wang, Brendan J. Englot:
Autonomous Exploration Under Uncertainty via Deep Reinforcement Learning on Graphs. CoRR abs/2007.12640 (2020) - [i8]John D. Martin, Kevin J. Doherty, Caralyn Cyr, Brendan J. Englot, John J. Leonard:
Variational Filtering with Copula Models for SLAM. CoRR abs/2008.00504 (2020) - [i7]Sanjai Narain, Emily Mak, Dana Chee, Todd Huster, Jeremy E. J. Cohen, Kishore Pochiraju, Brendan J. Englot, Niraj K. Jha, Karthik S. Narayan:
Robot Design With Neural Networks, MILP Solvers and Active Learning. CoRR abs/2010.09842 (2020)
2010 – 2019
- 2019
- [j6]Kevin J. Doherty, Tixiao Shan, Jinkun Wang, Brendan J. Englot:
Learning-Aided 3-D Occupancy Mapping With Bayesian Generalized Kernel Inference. IEEE Trans. Robotics 35(4): 953-966 (2019) - [c33]Jinkun Wang, Tixiao Shan, Brendan J. Englot:
Underwater Terrain Reconstruction from Forward-Looking Sonar Imagery. ICRA 2019: 3471-3477 - [c32]Jinkun Wang, Tixiao Shan, Brendan J. Englot:
Virtual Maps for Autonomous Exploration with Pose SLAM. IROS 2019: 4899-4906 - [c31]Fanfei Chen, Jinkun Wang, Tixiao Shan, Brendan J. Englot:
Autonomous Exploration Under Uncertainty via Graph Convolutional Networks. ISRR 2019: 676-691 - [i6]John D. Martin, Michal Lyskawinski, Xiaohu Li, Brendan J. Englot:
Stochastically Dominant Distributional Reinforcement Learning. CoRR abs/1905.07318 (2019) - [i5]Tixiao Shan, Brendan J. Englot:
A Lexicographic Search Method for Multi-Objective Motion Planning. CoRR abs/1909.02184 (2019) - 2018
- [c30]John D. Martin, Jinkun Wang, Brendan J. Englot:
Sparse Gaussian Process Temporal Difference Learning for Marine Robot Navigation. CoRL 2018: 179-189 - [c29]Tixiao Shan, Jinkun Wang, Brendan J. Englot, Kevin J. Doherty:
Bayesian Generalized Kernel Inference for Terrain Traversability Mapping. CoRL 2018: 829-838 - [c28]Jinkun Wang, Brendan J. Englot:
Robust Exploration with Multiple Hypothesis Data Association. IROS 2018: 3537-3544 - [c27]Tixiao Shan, Brendan J. Englot:
LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain. IROS 2018: 4758-4765 - [i4]John D. Martin, Jinkun Wang, Brendan J. Englot:
Sparse Gaussian Process Temporal Difference Learning for Marine Robot Navigation. CoRR abs/1810.01217 (2018) - [i3]John D. Martin, Brendan J. Englot:
Recursive Sparse Pseudo-input Gaussian Process SARSA. CoRR abs/1811.07201 (2018) - 2017
- [c26]Dengwei Gao, Jianjun Luo, Weihua Ma, Shi Bai, Brendan J. Englot:
Efficient and robust feedback motion planning under uncertainty using the pontryagin difference. CDC 2017: 939-946 - [c25]John D. Martin, Brendan J. Englot:
Extending Model-based Policy Gradients for Robots in Heteroscedastic Environments. CoRL 2017: 438-447 - [c24]Kevin J. Doherty, Jinkun Wang, Brendan J. Englot:
Bayesian generalized kernel inference for occupancy map prediction. ICRA 2017: 3118-3124 - [c23]Jinkun Wang, Shi Bai, Brendan J. Englot:
Underwater localization and 3D mapping of submerged structures with a single-beam scanning sonar. ICRA 2017: 4898-4905 - [c22]Shi Bai, Fanfei Chen, Brendan J. Englot:
Toward autonomous mapping and exploration for mobile robots through deep supervised learning. IROS 2017: 2379-2384 - [c21]Tixiao Shan, Brendan J. Englot:
Belief roadmap search: Advances in optimal and efficient planning under uncertainty. IROS 2017: 5318-5325 - [c20]Jinkun Wang, Brendan J. Englot:
Autonomous Exploration with Expectation-Maximization. ISRR 2017: 759-774 - 2016
- [j5]Shaunak D. Bopardikar, Brendan J. Englot, Alberto Speranzon, Jur van den Berg:
Robust belief space planning under intermittent sensing via a maximum eigenvalue-based bound. Int. J. Robotics Res. 35(13): 1609-1626 (2016) - [c19]Brendan J. Englot, Tixiao Shan, Shaunak D. Bopardikar, Alberto Speranzon:
Sampling-based min-max uncertainty path planning. CDC 2016: 6863-6870 - [c18]Jinkun Wang, Brendan J. Englot:
Fast, accurate gaussian process occupancy maps via test-data octrees and nested Bayesian fusion. ICRA 2016: 1003-1010 - [c17]Kevin J. Doherty, Jinkun Wang, Brendan J. Englot:
Probabilistic map fusion for fast, incremental occupancy mapping with 3D Hilbert maps. ICRA 2016: 1011-1018 - [c16]Shi Bai, Jinkun Wang, Fanfei Chen, Brendan J. Englot:
Information-theoretic exploration with Bayesian optimization. IROS 2016: 1816-1822 - 2015
- [j4]Shaunak D. Bopardikar, Brendan J. Englot, Alberto Speranzon:
Multiobjective Path Planning: Localization Constraints and Collision Probability. IEEE Trans. Robotics 31(3): 562-577 (2015) - [c15]Tixiao Shan, Brendan J. Englot:
Sampling-based Minimum Risk path planning in multiobjective configuration spaces. CDC 2015: 814-821 - [c14]Shi Bai, Jinkun Wang, Kevin J. Doherty, Brendan J. Englot:
Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces. ISRR (2) 2015: 419-433 - [i2]Zachary Clawson, Xuchu Dennis Ding, Brendan J. Englot, Thomas A. Frewen, William M. Sisson, Alexander Vladimirsky:
A bi-criteria path planning algorithm for robotics applications. CoRR abs/1511.01166 (2015) - 2014
- [c13]Shaunak D. Bopardikar, Brendan J. Englot, Alberto Speranzon:
Multi-objective path planning in GPS denied environments under localization constraints. ACC 2014: 1872-1879 - [c12]Xuchu Dennis Ding, Brendan J. Englot, Alessandro Pinto, Alberto Speranzon, Amit Surana:
Hierarchical Multi-objective planning: From mission specifications to contingency management. ICRA 2014: 3735-3742 - [c11]Shaunak D. Bopardikar, Brendan J. Englot, Alberto Speranzon:
Robust belief roadmap: Planning under uncertain and intermittent sensing. ICRA 2014: 6122-6129 - 2013
- [j3]Geoffrey A. Hollinger, Brendan J. Englot, Franz S. Hover, Urbashi Mitra, Gaurav S. Sukhatme:
Active planning for underwater inspection and the benefit of adaptivity. Int. J. Robotics Res. 32(1): 3-18 (2013) - [j2]Brendan J. Englot, Franz S. Hover:
Three-dimensional coverage planning for an underwater inspection robot. Int. J. Robotics Res. 32(9-10): 1048-1073 (2013) - [c10]Brendan J. Englot, Tuhin Sahai, Isaac Cohen:
Efficient tracking and pursuit of moving targets by heuristic solution of the traveling salesman problem. CDC 2013: 3433-3438 - [i1]Shaunak D. Bopardikar, Brendan J. Englot, Alberto Speranzon:
Robust Belief Roadmap: Planning Under Intermittent Sensing. CoRR abs/1304.7256 (2013) - 2012
- [j1]Franz S. Hover, Ryan M. Eustice, Ayoung Kim, Brendan J. Englot, Hordur Johannsson, Michael Kaess, John J. Leonard:
Advanced perception, navigation and planning for autonomous in-water ship hull inspection. Int. J. Robotics Res. 31(12): 1445-1464 (2012) - [c9]Brendan J. Englot, Franz S. Hover:
Sampling-Based Coverage Path Planning for Inspection of Complex Structures. ICAPS 2012 - [c8]Geoffrey A. Hollinger, Brendan J. Englot, Franz Hover, Urbashi Mitra, Gaurav S. Sukhatme:
Uncertainty-driven view planning for underwater inspection. ICRA 2012: 4884-4891 - [c7]Brendan J. Englot, Franz S. Hover:
Sampling-based sweep planning to exploit local planarity in the inspection of complex 3D structures. IROS 2012: 4456-4463 - 2011
- [c6]Naveen Kumar, Adam C. Lammert, Brendan J. Englot, Franz S. Hover, Shrikanth S. Narayanan:
Directional descriptors using zernike moment phases for object orientation estimation in underwater sonar images. ICASSP 2011: 1025-1028 - [c5]Brendan J. Englot, Franz S. Hover:
Multi-goal feasible path planning using ant colony optimization. ICRA 2011: 2255-2260 - [c4]Brendan J. Englot, Franz S. Hover:
Planning Complex Inspection Tasks Using Redundant Roadmaps. ISRR 2011: 327-343 - 2010
- [c3]Hordur Johannsson, Michael Kaess, Brendan J. Englot, Franz Hover, John J. Leonard:
Imaging sonar-aided navigation for autonomous underwater harbor surveillance. IROS 2010: 4396-4403 - [c2]Brendan J. Englot, Franz Hover:
Inspection planning for sensor coverage of 3D marine structures. IROS 2010: 4412-4417
2000 – 2009
- 2009
- [c1]Brendan J. Englot, Franz S. Hover:
Stability and robustness analysis tools for marine robot localization and SLAM applications. IROS 2009: 4426-4432
Coauthor Index
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