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Predicting Unobserved Space For Planning via Depth Map Augmentation
(2019)2019 19th International Conference on Advanced Robotics (ICAR)Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On Micro Air Vehicles (MAVs) this is commonly achieved using low-cost sensors, such as stereo or RGB-D cameras. These sensors may fail to provide depth measurements in textureless or IR-absorbing areas and have limited effective range. In path ...Conference Paper -
Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping
(2019)2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)In this paper, we propose a visual-inertial framework able to efficiently estimate the camera poses of a non-rigid trinocular baseline for long-range depth estimation on-board a fast moving aerial platform. The estimation of the time-varying baseline is based on relative inertial measurements, a photometric relative pose optimizer, and a probabilistic wing model fused in an efficient Extended Kalman Filter (EKF) formulation. The estimated ...Conference Paper -
On Flying Backwards: Preventing Run-away of Small, Low-speed, Fixed-wing UAVs in Strong Winds
(2019)2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Small, low-speed fixed-wing Unmanned Aerial Vehicles (UAVs) operating autonomously, beyond-visual-line-of-sight (BVLOS) will inevitably encounter winds rising to levels near or exceeding the vehicles' nominal airspeed. In this paper, we develop a nonlinear lateral-directional path following guidance law with explicit consideration of online wind estimates. Energy efficient airspeed reference compensation logic is developed for excess wind ...Conference Paper -
Disturbance Estimation and Rejection for High-Precision Multirotor Position Control
(2019)2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Many multirotor Unmanned Aerial Systems applications have a critical need for precise position control in environments with strong dynamic external disturbances such as wind gusts or ground and wall effects. Moreover, to maximize flight time, small multirotor platforms have to operate within strict constraints on payload and thus computational performance. In this paper, we present the design and experimental comparison of Model Predictive ...Conference Paper -
Navigation aware planning for tandem UAV missions in GNSS challenging environments
(2019)AIAA Scitech 2019 ForumConference 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 -
Flourish - A robotic approach for automation in crop management
(2018)Proceedings of the 14th International Conference on Precision AgricultureConference Paper -
Multi-Agent Time-Based Decision-Making for the Search and Action Problem
(2018)Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
A Data-driven Model for Interaction-Aware Pedestrian Motion Prediction in Object Cluttered Environments
(2018)Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
Aerial-Ground collaborative sensing: Third-Person view for teleoperation
(2018)Proceedings of the 2018 International Symposium on Safety, Security, and Rescue Robotics (SSRR)Conference Paper