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Improved Tau-Guidance and Vision-Aided Navigation for Robust Autonomous Landing of UAVs
(2018)Springer Proceedings in Advanced Robotics ~ Field and Service RoboticsConference Paper -
C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach
(2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
An integrated MAV-RFID system for geo-referenced monitoring of harsh environments
(2018)Proceedings of the 2018 IEEE Conference on Antenna Measurements & Applications (CAMA)Conference Paper -
Sparse 3D Topological Graphs for Micro-Aerial Vehicle Planning
(2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
Nonlinear Model Predictive Guidance for Fixed-wing UAVs Using Identified Control Augmented Dynamics
(2018)2018 International Conference on Unmanned Aircraft Systems (ICUAS)Conference Paper -
Flexible Stereo: Constrained, Non-Rigid, Wide-Baseline Stereo Vision for Fixed-Wing Aerial Platforms
(2018)Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
Design of an Autonomous Racecar: Perception, State Estimation and System Integration
(2018)Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
Flourish - A robotic approach for automation in crop management
(2018)Proceedings of the 14th International Conference on Precision AgricultureConference Paper -
PoseMap: Lifelong, Multi-Environment 3D LiDAR Localization
(2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Reliable long-term localization is key for robotic systems in dynamic environments. In this paper, we propose a novel approach for long-term localization using 3D LiDARs, coined PoseMap. In essence, we extract distinctive features from range measurements and bundle these into local views along with observation poses. The sensor's trajectory is then estimated in a sliding window fashion by matching current and old features and minimizing ...Conference Paper -
Towards Autonomous Stratospheric Flight: A Generic Global System Identification Framework for Fixed-Wing Platforms
(2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)System identification of High Altitude Long Endurance fixed-wing aerial vehicles is challenging as its operating flight envelope covers wide ranges of altitudes and Mach numbers. We present a new global system identification framework geared towards such fixed-wing aerial platforms where the aim is to build a global aerodynamic model without many repetitions of local system identification procedures or the use of any aerodynamic database. ...Conference Paper