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Xiaoyi Cai
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Journal Articles
- 2024
- [j5]Xiaoyi Cai, Siddharth Ancha, Lakshay Sharma, Philip R. Osteen, Bernadette Bucher, Stephen Phillips, Jiuguang Wang, Michael Everett, Nicholas Roy, Jonathan P. How:
EVORA: Deep Evidential Traversability Learning for Risk-Aware Off-Road Autonomy. IEEE Trans. Robotics 40: 3756-3777 (2024) - 2023
- [j4]Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How:
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams. IEEE Trans. Robotics 39(4): 2585-2602 (2023) - 2021
- [j3]Sean Wilson, Paul Glotfelter, Siddharth Mayya, Gennaro Notomista, Yousef Emam, Xiaoyi Cai, Magnus Egerstedt:
The Robotarium: Automation of a Remotely Accessible, Multi-Robot Testbed. IEEE Robotics Autom. Lett. 6(2): 2922-2929 (2021) - [j2]Pietro Pierpaoli, Anqi Li, Mohit Srinivasan, Xiaoyi Cai, Samuel Coogan, Magnus Egerstedt:
A Sequential Composition Framework for Coordinating Multirobot Behaviors. IEEE Trans. Robotics 37(3): 864-876 (2021) - 2020
- [j1]Parker C. Lusk, Xiaoyi Cai, Samir Wadhwania, Aleix Paris, Kaveh Fathian, Jonathan P. How:
A Distributed Pipeline for Scalable, Deconflicted Formation Flying. IEEE Robotics Autom. Lett. 5(4): 5213-5220 (2020)
Conference and Workshop Papers
- 2023
- [c7]Lakshay Sharma, Michael Everett, Donggun Lee, Xiaoyi Cai, Philip R. Osteen, Jonathan P. How:
RAMP: A Risk-Aware Mapping and Planning Pipeline for Fast Off-Road Ground Robot Navigation. ICRA 2023: 5730-5736 - [c6]Xiaoyi Cai, Michael Everett, Lakshay Sharma, Philip R. Osteen, Jonathan P. How:
Probabilistic Traversability Model for Risk-Aware Motion Planning in Off-Road Environments. IROS 2023: 11297-11304 - 2022
- [c5]Xiaoyi Cai, Michael Everett, Jonathan Fink, Jonathan P. How:
Risk-Aware Off-Road Navigation via a Learned Speed Distribution Map. IROS 2022: 2931-2937 - 2021
- [c4]Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How:
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams. ICRA 2021: 8859-8865 - 2020
- [c3]Gennaro Notomista, Xiaoyi Cai:
A Safety and Passivity Filter for Robot Teleoperation Systems. HFR 2020: 101-115 - [c2]Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai, Angel Santamaria-Navarro, Jonathan P. How, Luca Carlone, Ali-akbar Agha-mohammadi:
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments. ISER 2020: 380-390 - 2019
- [c1]Gennaro Notomista, Xiaoyi Cai, Junya Yamauchi, Magnus Egerstedt:
Passivity-Based Decentralized Control of Multi-Robot Systems With Delays Using Control Barrier Functions. MRS 2019: 231-237
Informal and Other Publications
- 2024
- [i13]Kota Kondo, Andrea Tagliabue, Xiaoyi Cai, Claudius T. Tewari, Olivia Garcia, Marcos Espitia-Alvarez, Jonathan P. How:
CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning. CoRR abs/2405.01758 (2024) - [i12]Xiaoyi Cai, James Queeney, Tong Xu, Aniket Datar, Chenhui Pan, Max Miller, Ashton Flather, Philip R. Osteen, Nicholas Roy, Xuesu Xiao, Jonathan P. How:
PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain. CoRR abs/2409.03005 (2024) - 2023
- [i11]Xiaoyi Cai, Siddharth Ancha, Lakshay Sharma, Philip R. Osteen, Bernadette Bucher, Stephen Phillips, Jiuguang Wang, Michael Everett, Nicholas Roy, Jonathan P. How:
EVORA: Deep Evidential Traversability Learning for Risk-Aware Off-Road Autonomy. CoRR abs/2311.06234 (2023) - 2022
- [i10]Xiaoyi Cai, Michael Everett, Jonathan Fink, Jonathan P. How:
Risk-Aware Off-Road Navigation via a Learned Speed Distribution Map. CoRR abs/2203.13429 (2022) - [i9]Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How:
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams. CoRR abs/2208.00262 (2022) - [i8]Xiaoyi Cai, Michael Everett, Lakshay Sharma, Philip R. Osteen, Jonathan P. How:
Probabilistic Traversability Model for Risk-Aware Motion Planning in Off-Road Environments. CoRR abs/2210.00153 (2022) - [i7]Lakshay Sharma, Michael Everett, Donggun Lee, Xiaoyi Cai, Philip R. Osteen, Jonathan P. How:
RAMP: A Risk-Aware Mapping and Planning Pipeline for Fast Off-Road Ground Robot Navigation. CoRR abs/2210.06605 (2022) - 2021
- [i6]Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How:
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams. CoRR abs/2101.11093 (2021) - [i5]Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai, Angel Santamaria-Navarro, Jonathan P. How, Luca Carlone, Ali-akbar Agha-mohammadi:
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments. CoRR abs/2102.03443 (2021) - [i4]Gennaro Notomista, Xiaoyi Cai:
A Safety and Passivity Filter for Robot Teleoperation Systems. CoRR abs/2102.08630 (2021) - 2020
- [i3]Parker C. Lusk, Xiaoyi Cai, Samir Wadhwania, Aleix Paris, Kaveh Fathian, Jonathan P. How:
A Distributed Pipeline for Scalable, Deconflicted Formation Flying. CoRR abs/2003.01851 (2020) - 2019
- [i2]Gennaro Notomista, Xiaoyi Cai, Magnus Egerstedt:
Passivity-Based Decentralized Control of Multi-Robot Systems With Delays Using Control Barrier Functions. CoRR abs/1904.04801 (2019) - [i1]Pietro Pierpaoli, Anqi Li, Mohit Srinivasan, Xiaoyi Cai, Samuel Coogan, Magnus Egerstedt:
A Sequential Composition Framework for Coordinating Multi-Robot Behaviors. CoRR abs/1907.07718 (2019)
Coauthor Index
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