50 citations · 108 across the 9 of their papers we have counts for
9 papers
Proprioceptive Slip Detection for Planetary Rovers in Perceptually Degraded Extraterrestrial Environments
Cagri Kilic, Yu Gu, Jason N. Gross
Slip detection is of fundamental importance for the safety and efficiency of rovers driving on the surface of extraterrestrial bodies. Current planetary rover slip detection system…
NASA Space Robotics Challenge 2 Qualification Round: An Approach to Autonomous Lunar Rover Operations
Cagri Kilic, Bernardo Martinez R., Christopher A. Tatsch +7
Plans for establishing a long-term human presence on the Moon will require substantial increases in robot autonomy and multi-robot coordination to support establishing a lunar outp…
Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Localization
Cagri Kilic, Nicholas Ohi, Yu Gu +1
The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied.…
Search Planning of a UAV/UGV Team with Localization Uncertainty in a Subterranean Environment
Matteo De Petrillo, Jared Beard, Yu Gu +1
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterrane…
Cooperative Navigation Using Pairwise Communication with Ranging and Magnetic Anomaly Measurements
Chizhao Yang, Jared Strader, Yu Gu +2
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contain…
Cooperative Extended State Observer Based Control of Vehicle Platoons With Arbitrarily Small Time Headway
Anquan Liu, Tao Li, Yu Gu +1
We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on…