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Time-bounded lattice for efficient planning in dynamic environments
TLDR
A novel data structure for planning is proposed - a time-bounded lattice - that merges together short-term planning in time with longterm planning without time that provides real-time guarantees on the performance of planning with dynamic obstacles.
Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams
TLDR
An algorithm for the generation of optimal trajectories for teams of heterogeneous quadrotors in three-dimensional environments with obstacles in mixed-integer quadratic programs where the integer constraints are used to enforce collision avoidance.
Influence of Aerodynamics and Proximity Effects in Quadrotor Flight
TLDR
This paper addresses the modeling of quadrotor robots in different flight conditions that include relative wind velocity and proximity to the ground, the ceiling and other robots and the incorporation of these models into controllers and the use of a swarm of robots to map features in the environment from variations in the aerodynamics.
Towards a swarm of agile micro quadrotors
TLDR
A prototype 75 g micro quadrotor with onboard attitude estimation and control that operates autonomously with an external localization system and the hardware and software used to operate the vehicle as well the dynamic model are described.
Little Ben: The Ben Franklin Racing Team's entry in the 2007 DARPA Urban Challenge
TLDR
The sensing, planning, navigation, and actuation systems for Little Ben were carefully designed to meet the performance demands required of an autonomous vehicle traveling in an uncertain urban environment.
Search-based planning for a legged robot over rough terrain
TLDR
It is shown how R* search can be employed to generate high-quality global plans in the high-dimensional space of footstep trajectories and results show that the global plans coupled with the joint controller result in a system robust enough to deal with a variety of terrains.
Little Ben: The Ben Franklin Racing Team's Entry in the 2007 DARPA Urban Challenge
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. The sensing,
Path planning for non-circular micro aerial vehicles in constrained environments
TLDR
This work uses an anytime planner based on A* that performs a graph search on a four-dimensional (4-D) (x,y,z, heading) lattice that allows for the generation of close-to-optimal trajectories based on a set of precomputed motion primitives along with the capability to provide trajectories in real-time allowing for on-the-fly re-planning as new sensor data is received.
Experimental characterization of radio signal propagation in indoor environments with application to estimation and control
TLDR
Results from experiments where two robots equipped with radio signal devices and enabled to control and localize autonomously in an indoor hallway and laboratory environment densely sample RSSI are presented, suggesting that for robotics applications requiring predicted RSSI, low-powerRadio signal devices are a well-posed sensing modality.
Towards A Swarm of Agile Micro Quadrotors
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