154 citations · 177 across the 12 of their papers we have counts for
13 papers · 1 filter
AutoPilot: Automating SoC Design Space Exploration for SWaP Constrained Autonomous UAVs
Srivatsan Krishnan, Zishen Wan, Kshitij Bhardwaj +6
Building domain-specific accelerators for autonomous unmanned aerial vehicles (UAVs) is challenging due to a lack of systematic methodology for designing onboard compute. Balancing…
Visual Navigation Among Humans with Optimal Control as a Supervisor
Varun Tolani, Somil Bansal, Aleksandra Faust +1
Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires ant…
Learned Critical Probabilistic Roadmaps for Robotic Motion Planning
Brian Ichter, Edward Schmerling, Tsang-Wei Edward Lee +1
Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samp…
Neural Collision Clearance Estimator for Batched Motion Planning
J. Chase Kew, Brian Ichter, Maryam Bandari +2
We present a neural network collision checking heuristic, ClearanceNet, and a planning algorithm, CN-RRT. ClearanceNet learns to predict separation distance (minimum distance betwe…
Learning to Seek: Autonomous Source Seeking with Deep Reinforcement Learning Onboard a Nano Drone Microcontroller
Bardienus P. Duisterhof, Srivatsan Krishnan, Jonathan J. Cruz +5
We present fully autonomous source seeking onboard a highly constrained nano quadcopter, by contributing application-specific system and observation feature design to enable infere…
RL-RRT: Kinodynamic Motion Planning via Learning Reachability Estimators from RL Policies
Hao-Tien Lewis Chiang, Jasmine Hsu, Marek Fiser +2
This paper addresses two challenges facing sampling-based kinodynamic motion planning: a way to identify good candidate states for local transitions and the subsequent computationa…