publications

2024

  1. clipper.gif
    CLIPPER: Robust Data Association without an Initial Guess
    P. C. Lusk ,  and  J. P. How
    IEEE Robotics and Automation Letters, 2024
    Code
  2. sosslam.gif
    SOS-SLAM: Segmentation for Open-Set SLAM in Unstructured Environments
    J. Kinnari ,  A. Thomas ,  P. C. Lusk ,  K. Kondo ,  and  J. P. How
    under review, 2024
    arXiv Website

2023

  1. rmader.gif
    Robust MADER: Decentralized Multiagent Trajectory Planner Robust to Communication Delay in Dynamic Environments
    K. Kondo ,  R. Figueroa ,  J. Rached ,  J. Tordesillas ,  P. C. Lusk ,  and  J. P. How
    IEEE Robotics and Automation Letters, 2023
    arXiv Video Code Video
  2. motlee.gif
    MOTLEE: Distributed Mobile Multi-Object Tracking with Localization Error Elimination
    M. B. Peterson ,  P. C. Lusk ,  and  J. P. How
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2023
    arXiv
  3. globalreloc.gif
    Global Relocalization in Unstructured Environments using Semantic Object Maps Built from Various Viewpoints
    J. Ankenbauer ,  P. C. Lusk ,  A. Thomas ,  and  J. P. How
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2023
    IROS Best Paper Award on Safety, Security, and Rescue Robotics, Finalist
    arXiv
  4. mixer_workshop_small.gif
    MIXER: Multiattribute, Multiway Fusion of Uncertain Pairwise Affinities
    P. C. Lusk ,  K. Fathian ,  and  J. P. How
    IEEE Robotics and Automation Letters, 2023
    arXiv
  5. rmader.gif
    Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay
    K. Kondo ,  J. Tordesillas ,  R. Figueroa ,  J. Rached ,  J. Merkel ,  P. C. Lusk ,  and  J. P. How
    In IEEE International Conference on Robotics and Automation (ICRA) , 2023
    arXiv Video Code Video

2022

  1. graffmatchiros.gif
    GraffMatch: Global Matching of 3D Lines and Planes for Wide Baseline LiDAR Registration
    P. C. Lusk ,  D. Parikh ,  and  J. P. How
    IEEE Robotics and Automation Letters, 2022
    arXiv
  2. graffmatchiros.gif
    Global Data Association for SLAM with 3D Grassmannian Manifold Objects
    P. C. Lusk ,  and  J. P. How
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2022
    Slides

2021

  1. clipper1.png
    CLIPPER: A Graph-Theoretic Framework for Robust Data Association
    P. C. Lusk ,  K. Fathian ,  and  J. P. How
    In IEEE International Conference on Robotics and Automation (ICRA) , 2021
    arXiv Code Slides
  2. mixer_workshop_small.gif
    MIXER: A Principled Framework for Multimodal, Multiway Data Association
    P. C. Lusk ,  R. Roy ,  K. Fathian ,  and  J. P. How
    In ICRA 2021 Workshop on Robust Perception For Autonomous Field Robots in Challenging Environments , 2021
    arXiv
  3. dtmpc.png
    Performance Analysis of Adaptive Dynamic Tube MPC
    S. Morozov ,  P. C. Lusk ,  B. Lopez ,  and  J. P. How
    In AIAA Scitech 2021 Forum , 2021
    arXiv Code

2020

  1. clear.png
    CLEAR: A consistent lifting, embedding, and alignment rectification algorithm for multiview data association
    K. Fathian ,  K. Khosoussi ,  Y. Tian ,  P. C. Lusk ,  and  J. P. How
    IEEE Transactions on Robotics, 2020
    arXiv Video Code Video
  2. aclswarm.gif
    A distributed pipeline for scalable, deconflicted formation flying
    P. C. Lusk ,  X. Cai ,  S. Wadhwania ,  A. Paris ,  K. Fathian ,  and  J. P. How
    IEEE Robotics and Automation Letters, 2020
    arXiv Video Code Video

2019

  1. sully_small.png
    Safe2Ditch: Emergency landing for small unmanned aircraft systems
    P. C. Lusk ,  P. C. Glaab ,  L. J. Glaab ,  and  R. W. Beard
    Journal of Aerospace Information Systems, 2019
    Video Video

2018

  1. visualmtt_smaller.gif
    Visual multiple target tracking from a descending aerial platform
    P. C. Lusk ,  and  R. W. Beard
    In 2018 Annual American Control Conference (ACC) , 2018
    Video Video
  2. visualmtt_following_small.gif
    Autonomous target following with monocular camera on UAS using recursive-RANSAC tracker
    J. H. Lee ,  J. D. Millard ,  P. C. Lusk ,  and  R. W. Beard
    In 2018 International Conference on Unmanned Aircraft Systems (ICUAS) , 2018
    Video Video