Yash Mulgaonkar

Learn More
We report recent results from field experiments conducted with a team of ground and aerial robots toward the collaborative mapping of an earthquake-damaged building. The goal of the experimental exercise is the generation of 3D maps that capture the layout of the environment and provide insight to the degree of damage inside the building. The experiments(More)
In this paper, we consider the development of a rotorcraft micro aerial vehicle (MAV) system capable of vision-based state estimation in complex environments. We pursue a systems solution for the hardware and software to enable autonomous flight with a small rotorcraft in complex indoor and outdoor environments using only onboard vision and inertial(More)
This paper addresses the development of a lightweight autonomous quadrotor that uses cameras and an inexpensive IMU as its only sensors and onboard processors for estimation and control. We describe a fully-functional, integrated system with a focus on robust visual-inertial state estimation, and demonstrate the quadrotor’s ability to autonomously travel at(More)
We present a modular and extensible approach to integrate noisy measurements from multiple heterogeneous sensors that yield either absolute or relative observations at different and varying time intervals, and to provide smooth and globally consistent estimates of position in real time for autonomous flight. We describe the development of algorithms and(More)
Addressing the challenges of feeding the burgeoning world population with limited resources requires innovation in sustainable, efficient farming. The practice of precision agriculture offers many benefits towards addressing these challenges, such as improved yield and efficient use of such resources as water, fertilizer and pesticides. We describe the(More)
Consumer grade technology seen in cameras and phones has led to the price/performance ratio of sensors and processors falling dramatically over the last decade. In particular, most devices are packaged with a camera, a gyroscope, and an accelerometer, important sensors for aerial robotics. The low mass and small form factor make them particularly well(More)
Scaling down the size and mass of micro aerial vehicles (MAVs) increases their agility and their ability to operate in tight formations. In addition, smaller robots are safer and, as we will show in this paper, more robust to collisions. This paper addresses the development of a pico quadrotor measuring 11 cm from tip to tip, with a mass of 25g. To increase(More)
The past decade has seen an increased interest in Autonomous Micro Aerial Vehicles (MAVs). Rotary wing MAVs such as quadrotors, can operate in confined spaces, hover at any given point in space and perch or land on a flat surface. This makes the quadrotor a very attractive aerial platform with tremendous potential. Our main goal was to design and prototype(More)
Micro UAVs are receiving a great deal of attention in many diverse applications. In this paper, we are interested in a unique application, surveillance for maintenance of large infrastructure assets such as dams and penstocks, where the goal is to periodically inspect and map the structure to detect features that might indicate the potential for failures.(More)