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02/06/2023
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments
We present a method for solving the coverage problem with the objective ...
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09/12/2022
Risk-aware Meta-level Decision Making for Exploration Under Uncertainty
Robotic exploration of unknown environments is fundamentally a problem o...
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03/12/2022
FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget
We present a method for autonomous exploration of large-scale unknown en...
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03/07/2022
Mid-Air Helicopter Delivery at Mars Using a Jetpack
Mid-Air Helicopter Delivery (MAHD) is a new Entry, Descent and Landing (...
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11/02/2021
Differential Flatness and Flatness Inspired Control of Aerial Manipulators based on Lagrangian Reduction
This paper shows that the dynamics of a general class of aerial manipula...
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03/21/2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
This paper presents and discusses algorithms, hardware, and software arc...
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03/04/2021
STEP: Stochastic Traversability Evaluation and Planning for Safe Off-road Navigation
Although ground robotic autonomy has gained widespread usage in structur...
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02/10/2021
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments
In order for a robot to explore an unknown environment autonomously, it ...
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10/19/2020
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion
This paper serves as one of the first efforts to enable large-scale and ...
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10/13/2020
Motivations and Preliminary Design for Mid-Air Deployment of a Science Rotorcraft on Mars
Mid-Air Deployment (MAD) of a rotorcraft during Entry, Descent and Landi...
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07/31/2020
A Unified NMPC Scheme for MAVs Navigation with 3D Collision Avoidance under Position Uncertainty
This article proposes a novel Nonlinear Model Predictive Control (NMPC) ...
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06/07/2020
Unsupervised Learning for Subterranean Junction Recognition Based on 2D Point Cloud
This article proposes a novel unsupervised learning framework for detect...
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04/10/2020
The Kinematics of Tracked Vehicles via the Power Dissipation Method
This paper develops a new quasi-static modeling framework for tracked ro...
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11/22/2019
Design and Autonomous Stabilization of a Ballistically Launched Multirotor
Aircraft that can launch ballistically and then convert to autonomous, f...
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09/26/2019
Preference-Based Learning for Exoskeleton Gait Optimization
This paper presents a personalized gait optimization framework for lower...
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06/27/2012