10 citations · 18 across the 6 of their papers we have counts for
8 papers
Planning and Control for a Dynamic Morphing-Wing UAV Using a Vortex Particle Model
Gino Perrotta, Luca Scheuer, Yocheved Kopel +4
Achieving precise, highly-dynamic maneuvers with Unmanned Aerial Vehicles (UAVs) is a major challenge due to the complexity of the associated aerodynamics. In particular, unsteady…
Multi-Robot Planning on Dynamic Topological Graphs using Mixed-Integer Programming
Cora A. Dimmig, Kevin C. Wolfe, Joseph Moore
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal s…
Probably Approximately Correct Nonlinear Model Predictive Control (PAC-NMPC)
Adam Polevoy, Marin Kobilarov, Joseph Moore
Approaches for stochastic nonlinear model predictive control (SNMPC) typically make restrictive assumptions about the system dynamics and rely on approximations to characterize the…
Post-Stall Navigation with Fixed-Wing UAVs using Onboard Vision
Adam Polevoy, Max Basescu, Luca Scheuer +1
Recent research has enabled fixed-wing unmanned aerial vehicles (UAVs) to maneuver in constrained spaces through the use of direct nonlinear model predictive control (NMPC). Howeve…
High-Speed Robot Navigation using Predicted Occupancy Maps
Kapil D. Katyal, Adam Polevoy, Joseph Moore +2
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottl…
Direct NMPC for Post-Stall Motion Planning with Fixed-Wing UAVs
Max Basescu, Joseph Moore
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have…
Closed-Loop Control of a Delta-Wing Unmanned Aerial-Aquatic Vehicle
Joseph Moore
We present a closed-loop control strategy for a delta-wing unmanned aerial aquatic-vehicle (UAAV) that enables autonomous swim, fly, and water-to-air transition. Our control system…
Occupancy Map Prediction Using Generative and Fully Convolutional Networks for Vehicle Navigation
Kapil Katyal, Katie Popek, Chris Paxton +4
Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future moti…