Publications (4)
Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight
Kartik Mohta, Ke Sun, Sikang Liu +6
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such…
Fast, Autonomous Flight in GPS-Denied and Cluttered Environments
Kartik Mohta, Michael Watterson, Yash Mulgaonkar +14
One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little…
The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots
Morgan Quigley, Kartik Mohta, Shreyas S. Shivakumar +8
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a sys…
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
Ke Sun, Kartik Mohta, Bernd Pfrommer +5
In recent years, vision-aided inertial odometry for state estimation has matured significantly. However, we still encounter challenges in terms of improving the computational effic…