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— This paper describes the system architecture and core algorithms for a quadrotor helicopter that uses vision data to navigate an unknown, indoor, GPS-denied environment. Without external sensing, an estimation system that relies only on integrating inertial data will have rapidly drifting position estimates. Micro aerial vehicles (MAVs) are stringently(More)
— This paper considers the path planning problem for an autonomous vehicle in an urban environment populated with static obstacles and moving vehicles with uncertain intents. We propose a novel threat assessment module, consisting of an intention predictor and a threat assessor, which augments the host vehicle's path planner with a real-time threat value(More)
This paper considers the problem of online informative motion planning for a network of heterogeneous mobile sensing agents, each subject to dynamic constraints, environmental constraints, and sensor limitations. Previous work has not yielded algorithms that are amenable to such general constraint characterizations. In this paper, the information-rich(More)
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract We consider the sensor selection problem on multivariate Gaussian(More)
We consider the problem of selecting informative observations in Gaussian graphical models containing both cycles and nuisances. More specifically , we consider the subproblem of quantifying conditional mutual information measures that are nonlocal on such graphs. The ability to efficiently quantify the information content of observations is crucial for(More)
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