The Borg Lab

Stephen Williams

I am currently a post-doc at Georgia Tech in the BORG Lab, supervised by Dr. Frank Dellaert. I am working on a DARPA-sponsored sensor fusion project with the goal of building a generic, reconfigurable navigation system. Our current approach makes use of factor graphs to perform probabilistic inference of the current system pose from evidence provided by sensor readings. Unlike conventional filtering approaches, the factor graph formulation does not require that the number or type of sensors be known ahead of time or remain constant during operation.

I just completed my Ph.D. in Electrical Engineering in July 2011, when I was a member of the Humans-Automation Systems lab directed by Dr. Ayanna Howard. During my time in the HumAnS lab, I have worked on the vision system for the SnoMote, a NASA-sponsored project with the goal to one day deploy a network of robotic weather stations in Greenland and Antarctica. This project has allowed me to build and refine several glacial-worthy prototype robots, perform field trials on top of several glaciers in Alaska, and has served as the inspiration for my dissertation. More of my previous work may be seen here.

Journal Papers

Williams S, Indelman V, Kaess M, Roberts R, Leonard J, Dellaert F
2014
Concurrent Filtering and Smoothing: A Parallel Architecture for Real-Time Navigation and Full Smoothing, Williams, Stephen, Indelman Vadim, Kaess Michael, Roberts Richard, Leonard John, and Dellaert Frank , (2014)
Indelman V, Williams S, Kaess M, Dellaert F
Robotics and Autonomous Systems
2013
Information Fusion in Navigation Systems via Factor Graph Based Incremental Smoothing, Indelman, Vadim, Williams Stephen, Kaess Michael, and Dellaert Frank , Robotics and Autonomous Systems, Volume 61, Issue 8, (2013)

Conference Papers

Indelman V, Williams S, Kaess M, Dellaert F
FUSION
2012
Factor Graph Based Incremental Smoothing in Inertial Navigation Systems, Indelman, Vadim, Williams Stephen, Kaess Michael, and Dellaert Frank , FUSION, (2012)
Kaess M, Williams S, Indelman V, Roberts R, Leonard J, Dellaert F
FUSION
2012
Concurrent Filtering and Smoothing, Kaess, Michael, Williams Stephen, Indelman Vadim, Roberts Richard, Leonard John, and Dellaert Frank , FUSION, (2012)