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Publications

2023

Field Robotics Journal

Flexible Supervised Autonomy for Exploration in Subterranean Environments

H. Bigge, E. Rush, D. Riley, S. Ahmad, M. Ohradzansky, K. Harlow, M. Miles, D. Torres, S. McGuire, E. Frew, C. Heckman, J. S. Humbert

2022

Conference on Robot Learning

Verified Path Following Using Neural Control Lyapunov Functions

A. Reed, G. Berger, S. Sankaranarayanan, C. Heckman

Proceedings of the Thirteenth Language Resources and Evaluation Conference (LREC)

Aligning Images and Text with Semantic Role Labels for Fine-Grained Cross-Modal Understanding

A. Bhattacharyya, C. Mauceri, M. Palmer, C. Heckman

The International Journal of Robotics Research

ColoRadar: The direct 3D millimeter wave radar dataset

A. Kramer, K. Harlow, C. Williams, C. Heckman

2021

IEEE International Conference on Information Fusion (FUSION)

Time dependence in kalman filter tuning

Z. Chen, C. Heckman, S. Julier, N. Ahmed

Field Robotics Journal

Multi-agent autonomy: Advancements and challenges in subterranean exploration

M. Ohradzansky, E. Rush, D. Riley, A. Mills, S. Ahmad, S. McGuire, H. Biggie, K. Harlow, M. Miles, E. Frew, C. Heckman, J. S. Humbert

International Workshop on Statistical Atlases and Computational Models of the Heart

Deformable Bayesian Convolutional Networks for Disease-Robust Cardiac MRI Segmentation

M. Fulton, C. Heckman, M. Rentschler

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Robust Pose Estimation Based on Normalized Information Distance

Z. Chen, C. Heckman

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

A mixed reality supervision and telepresence interface for outdoor field robotics

M. Walker, Z. Chen, M. Whitlock, D. Blair, D. A. Szafir, C. Heckman, D. Szafir

Communications of the ACM

Formalizing and guaranteeing human-robot interaction

H. Kress-Gazit, K. Eder, G. Hoffman, H. Admoni, B. Argall, R. Ehlers, C. Heckman, N. Jansen, R. Knepper, J. Kretinsky, S. Levy-Tzedek, J. Li, T. Murphey, L. Riek, D. Sadigh

Journal of Aerospace Information Systems

Human-Aware Reinforcement Learning for Fault Recovery Using Contextual Gaussian Processes

S. McGuire, P. Michael Furlong, C. Heckman, S. Julier, N Ahmed

2020

Iternational Symposium on Robotics Research

Embedded Neural Networks for Robot Autonomy

R. Patel, C. Heckman, N. Correll

Radar-Inertial State Estimation and Mapping for Micro-Aerial Vehicles In Dense Fog

A. Kramer, S. Ahmad, C. Heckman

International Symposium on Experimental Robotics

Radar-Inertial State Estimation and Mapping for Micro-Aerial Vehicles In Dense Fog

A. Kramer, S. Ahmad, C. Heckman

International Conference on Robotics and Automation (ICRA)

Radar-Inertial Ego-Velocity Estimation for Visually Degraded Environments [PDF]

A. Kramer, A. Santamaria-Navarro, A. Aghamohammadi, C. Heckman

International Conference on Intelligent Robots and Systems

Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps [PDF]

S. Bateman, K. Harlow, C. Heckman

2019

International Journal of Robotics Research

Learning to Calibrate: Reinforcement Learning for Guided Calibration of Visual-Inertial Rigs

F. Nobre, C. Heckman

International Journal of Robotics Research

Materials that make robots smart

D. Hughes, C. Heckman, N. Correll

International Conference on Computer Vision Workshop on Closing the Loop Between Vision and Language

SUN-Spot: An RGB-D Dataset With Spatial Referring Expressions

C. Mauceri, M. Palmer, C. Heckman

International Conference on 3D Vision

Multiple Point Light Estimation from Low-Quality 3D Reconstructions

M. Kasper, C. Heckman

IEEE/RSJ International Conference on Intelligent Robots and Systems

A Benchmark for Visual-Inertial Odometry Systems Employing Onboard Illumination

M. Kasper, S. Mcguire, C. Heckman

Field and Service Robotics

VI-SLAM for Subterranean Environments

A. Kramer, M. Kasper, C. Heckman

Perception in Subterranean Planetary Environments

Perception in Subterranean Planetary Environments

A. Kramer, M. Kasper, C. Heckman

IEEE Robotics and Automation Letters

Everybody needs somebody sometimes: validation of adaptive recovery in robotic space operations [PDF]

S.J. McGuire and P.M. Furlong and T. Fong and C. Heckman and D. Szafir and S. Julier and N. Ahmed

International Conference on Robotics and Automation (ICRA)

Robust low-overlap {3-D} point cloud registration for outlier rejection [PDF]

J. Stechschulte, and N. Ahmed, and C. Heckman

2018

International Conference on Intelligent Robots and Systems (IROS)

Path-Following though Control Funnel Functions [PDF]

H. Ravanbakhsh, S. Aghli, C. Heckman, and S. Sankaranarayanan

International Conference on Intelligent Robots and Systems (IROS)

Autonomous Localization, Navigation and Haustral Fold Detection for Robotic Endoscopy [PDF]

Prendergast, Micah and Formosa, Greg and Heckman, Chris and Rentschler, Mark

International Conference on Intelligent Robots and Systems (IROS)

Game-Theoretic Cooperative Lane Changing Using Data-Driven Models [PDF]

Ding, Guohui and Aghli, Sina and Heckman, Christoffer and Chen, Lijun

International Symposium on Experimental Robotics (ISER)

FastCal: Robust Online Self-Calibration for Robotic Systems

Nobre, Fernando and Heckman, Christoffer

21st International Conference on Information Fusion (FUSION)

Weak in the NEES?: Auto-tuning Kalman Filters with Bayesian Optimization [PDF]

Chen, Zhaozhong and Heckman, Christoffer and Julier, Simon and Ahmed, Nisar

IEEE Robotics and Automation Letters

Failure is Not an Option: Policy Learning for Adaptive Recovery in Space Operations [PDF]

S. McGuire and P. M. Furlong and C. Heckman and S. Julier and D. Szafir and N. Ahmed

International Conference on Robotics and Automation (ICRA)

Online System Identification and Calibration of Dynamic Models for Autonomous Ground Vehicles [PDF]

Aghli, Sina and Heckman, Christoffer

International Conference on Robotics and Automation (ICRA)

Online Probabilistic Change Detection in Feature-Based Maps [PDF]

Nobre, Fernando and Heckman, Christoffer and Ozog, Paul and Wolcott, Ryan and Walls, Jeffrey

2017

International Symposium on Robotics Research (ISRR)

Reinforcement Learning for Assisted Visual-Inertial Robotic Calibration [PDF]

Nobre, Fernando and Heckman, Christoffer

International Symposium on Robotics Research (ISRR)

Materials that Make Robots Smart [PDF]

Correll, Nikolaus and Heckman, Christoffer

Robotics: Science and Systems (RSS) Workshop on Bridging the Gap in Space Robotics

Terrain Aware Model Predictive Controller for Autonomous Ground Vehicles [PDF]

Aghli, Sina and Heckman, Christoffer

Robotics: Science and Systems (RSS) Workshop on Bridging the Gap in Space Robotics

On the Development of an Online Assistant Selection Dataset for Planetary Exploration Systems

McGuire, Steve and Furlong, P. Michael and Ahmed, Nisar

International Conference on Robotics and Automation (ICRA)

Drift-Correcting Self-Calibration for Visual-Inertial SLAM [PDF]

Nobre, Fernando and Kasper, Michael and Heckman, Christoffer

2016

European Conference on Computer Vision (ECCV) Workshop on Virtual/Augmented Reality for Visual Artificial Intelligence

Light Source Estimation in Synthetic Images [PDF]

Kasper, Michael and Keivan, Nima and Sibley, Gabe and Heckman, Christoffer

International Symposium on Experimental Robotics (ISER)

Multi-Sensor {SLAM} with Online Self-Calibration and Change Detection [PDF]

Fernando Nobre and Christoffer Heckman and Gabe Sibley

2015

Robotics Science and Systems (RSS) Workshop on Realistic, Repeatable and Robust Simulation

Simulation-in-the-loop for Planning and Model-Predictive Control [PDF]

Christoffer Heckman and Nima Keivan and Gabe Sibley