• Publications
  • Influence
Time-bounded lattice for efficient planning in dynamic environments
TLDR
We propose a novel data structure for planning with dynamic obstacles that limits the amount of planning in 6D (with time) based on the uncertainty in the predictions of the dynamic obstacle trajectories. Expand
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Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams
TLDR
We present an algorithm for the generation of optimal trajectories for teams of heterogeneous quadrotors in three-dimensional environments with obstacles with accelerations approaching 1g. Expand
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Influence of Aerodynamics and Proximity Effects in Quadrotor Flight
TLDR
The dynamic response and performance of a micro UAV is greatly influenced by its aerodynamics which in turn is affected by the interactions with features in the environment in close proximity. Expand
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Towards a swarm of agile micro quadrotors
TLDR
We describe a prototype 75 g micro quadrotor with onboard attitude estimation and control that operates autonomously with an external localization system. Expand
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Little Ben: The Ben Franklin Racing Team's Entry in the 2007 DARPA Urban Challenge
TLDR
This paper describes “Little Ben,” an autonomous ground vehicle constructed by the Ben Franklin Racing Team for the 2007 DARPA Urban Challenge in under a year and for less than $250,000. Expand
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Search-based planning for a legged robot over rough terrain
TLDR
We present a search-based planning approach for controlling a quadrupedal robot over rough terrain that is robust enough to deal with a variety of terrains. Expand
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Path planning for non-circular micro aerial vehicles in constrained environments
TLDR
We use an anytime planner based on A* that performs a graph search on a four-dimensional (4-D) (x,y,z, heading) lattice. Expand
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Experimental characterization of radio signal propagation in indoor environments with application to estimation and control
TLDR
We study radio signal propagation in indoor environments using low-power devices leveraging the Zigbee and Bluetooth specifications. Expand
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The University of Pennsylvania MAGIC 2010 multi-robot unmanned vehicle system
TLDR
We develop and deploy a multi-vehicle robot team, consisting of intelligent sensor and disrupter unmanned ground vehicles that can survey, map, recognize, and respond to threats in a dynamic urban environment with minimal human guidance. Expand
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