Vihan Aggarwal

Belief-Space Perception Routing under Coupled Sensor Faults and Compute Contention

A robot that has to see and react on a fixed clock runs into two problems at once. Its cameras degrade in rain, mud, fog, and darkness. And the single onboard processor it runs on is shared with planning and control, so the compute left over for perception moves around from second to second. Most systems model the two...