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01/31/2023
Probabilistic Point Cloud Modeling via Self-Organizing Gaussian Mixture Models
This letter presents a continuous probabilistic modeling methodology for...
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09/19/2022
Collaborative Human-Robot Exploration via Implicit Coordination
This paper develops a methodology for collaborative human-robot explorat...
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09/17/2022
Hierarchical Collision Avoidance for Adaptive-Speed Multirotor Teleoperation
This paper improves safe motion primitives-based teleoperation of a mult...
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06/17/2022
An imminent collision monitoring system with safe stopping interventions for autonomous aerial flights
Collision avoidance requires tradeoffs in planning time horizons. Depend...
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07/18/2021
Scalable Distributed Planning for Multi-Robot, Multi-Target Tracking
In multi-robot multi-target tracking, robots coordinate to monitor group...
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05/28/2021
Feedback Linearization for Quadrotors with a Learned Acceleration Error Model
This paper enhances the feedback linearization controller for multirotor...
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03/22/2021
Volumetric Objectives for Multi-Robot Exploration of Three-Dimensional Environments
Volumetric objectives for exploration and perception tasks seek to captu...
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12/19/2020
Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots
This paper develops a communication-efficient distributed mapping approa...
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11/24/2020
Rotational Error Metrics for Quadrotor Control
We analyze and experimentally compare various rotational error metrics f...
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06/05/2020
MRFMap: Online Probabilistic 3D Mapping using Forward Ray Sensor Models
Traditional dense volumetric representations for robotic mapping make si...
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03/31/2020
Autonomous Cave Surveying with an Aerial Robot
This paper presents a method for cave surveying in complete darkness wit...
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05/31/2019
Inverting Learned Dynamics Models for Aggressive Multirotor Control
We present a control strategy that applies inverse dynamics to a learned...
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05/31/2019
Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor
We present a multirotor architecture capable of aggressive autonomous fl...
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10/19/2018
RaD-VIO: Rangefinder-aided Downward Visual-Inertial Odometry
State-of-the-art forward facing monocular visual-inertial odometry algor...
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02/15/2018
3-D Volumetric Gamma-ray Imaging and Source Localization with a Mobile Robot
Radiation detection has largely been a manual inspection process with po...
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12/15/2017