Corey Montella

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In this paper, we demonstrate reliable navigation of a smart wheelchair system (SWS) in an urban environment. Urban environments present unique challenges for service robots. They require localization accuracy at the sidewalk level, but compromise GPS position estimates through significant multi-path effects. However, they are also rich in landmarks that(More)
A method for distributed parameter estimation of a previously unknown wind field is described. The application is dynamic soaring for small unmanned air vehicles, which severely constrains available computing while simultaneously requiring updates that are fast compared with a typical dynamic soaring cycle. A polynomial parameterization of the wind field is(More)
This paper examines closed-loop dynamic soaring by small autonomous aircraft. Wind field estimation, trajectory planning, and path-following control are integrated into a system to enable dynamic soaring. The control architecture is described, performance of components of the architecture is assessed in Monte Carlo simulation, and the trajectory constraints(More)
Dynamic soaring (DS) is an aerobatic maneuver whereby a gliding aircraft harnesses energy from horizontal wind that varies in strength and/or direction to support flight. Typical approaches to dynamic soaring in autonomous unmanned aerial vehicles (UAVs) use nonlinear optimizers to generate energy-gaining trajectories, which are then followed using(More)
In this paper we investigate the potential for enhancing the perception capabilities of smart wheelchair systems (SWS) in an urban environment through intensity-based terrain classification. A 3D camera system was employed that provided both range and intensity (remission) measurements to objects in the scene. Each sensor measurement was represented by a(More)
In this paper, we present the development of a low-cost, high-performance mobile robot platform for educational and research use called RoSCAR. The platform is based on a 1/10-scale short track race car, integrated with an on-board desktop-class computer, odometry, and RGB-D sensing. As part of an experimental robotics course, three student teams used(More)
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