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)
— 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 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)
— 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(More)
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