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MultiPoint: Cross-spectral registration of thermal and optical aerial imagery
(2020)Proceedings of Machine Learning Research ~ Proceedings of the 2020 Conference on Robot LearningWhile optical cameras are ubiquitous in robotics, some robots can sense the world in several sections of the electromagnetic spectrum simultaneously, which can extend their capabilities in fundamental ways. For instance, many fixed-wing UAVs carry both optical and thermal imaging cameras, potentially allowing them to detect temperature difference-induced atmospheric updrafts, map their locations, and adjust their flight path accordingly ...Conference Paper -
Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned Vehicle
(2021)Proceedings of Robotics: Science and Systems XVIIThe locomotion for many modern robotic systems is optimized for a single target domain - aerial, surface or underwater. In this work, we address the challenge of developing a robotic system capable of controlled motion in air and underwater. Further, we explore the particular challenge of dynamic transitions between air and water. We propose Dipper, an aerial-aquatic hybrid vehicle. Dipper is a lightweight fixed-wing unmanned aerial vehicle ...Conference Paper -
Conditioned deep feature consistent variational autoencoder for simulating realistic sonar images
(2022)OCEANS 2022, Hampton RoadsMultibeam imaging sonar is one of the primary sensors for underwater navigation with uncrewed underwater vehicles (UUVs) due to the robustness to turbidity and variable lighting conditions that limit the applicability of standard cameras. However, the operating principles and noise models of real sensors make imaging sonar challenging to accurately simulate, and acquiring real images experimentally is difficult and costly. This paper ...Conference Paper -
FlowBot: Flow-based Modeling for Robot Navigation
(2022)2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Autonomous navigation among people is a complex problem that also exhibits considerable variation depending on the type of environment and people involved. Here we consider navigation among crowds that exhibit flow-like behavior like people moving through a train station. We propose a novel pseudo-fluid model of crowd flow for such problems. These have an intuitive physical interpretation and do not require much tuning. We further formalize ...Conference Paper -
Mixed Reality Human-Robot Interface to Generate and Visualize 6DoF Trajectories: Application to Omnidirectional Aerial Vehicles
(2023)2023 International Conference on Unmanned Aircraft Systems (ICUAS)Omnidirectional aerial vehicles are an attractive tool for automated inspection tasks. Planning suitable trajectories in industrial environments is not trivial though and often requires human input. Existing trajectory planning tools generally rely on prior and accurate models of both the environment and the vehicle. Furthermore, their common 2D visualization for human operators is generally unsuitable for intuitive understanding of motions ...Conference Paper -
Differential Sweep Attitude Control for Swept Wing UAVs
(2020)2020 International Conference on Unmanned Aircraft Systems (ICUAS)A novel approach for attitude control of swept wing unmanned aerial vehicles (UAVs) is presented, involving the use of only differential wing sweep and rudder deflection. An analytic aerodynamic model of the aircraft based on simple sweep theory is derived in a first step. The prediction of a vortex lattice method is then compared to the initial model. Based on the body moment analysis of the two models, design constraints and a control ...Conference Paper -
It's Just Semantics: How to Get Robots to Understand the World the Way We Do
(2023)Springer Proceedings in Advanced Robotics ~ Robotics ResearchIncreasing robotic perception and action capabilities promise to bring us closer to agents that are effective for automating complex operations in human-centered environments. However, to achieve the degree of flexibility and ease of use needed to apply such agents to new and diverse tasks, representations are required for generalizable reasoning about conditions and effects of interactions, and as common ground for communicating with ...Conference Paper -
Credible Online Dynamics Learning for Hybrid UAVs
(2023)2023 IEEE International Conference on Robotics and Automation (ICRA)Hybrid unmanned aerial vehicles (H-UAVs) are highly versatile platforms with the ability to transition between rotary- and fixed-wing flight. However, their (aero)dynamics tend to be highly nonlinear which increases the risk of introducing safety-critical modeling errors in a controller. Designing a safe, yet not too cautious controller, requires a credible model which provides accurate dynamics uncertainty quantification. We present a ...Conference Paper