3 papers
cs.RO2025
Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems
Jake Welde, Nishanth Rao, Pratik Kunapuli +2
Tracking controllers enable robotic systems to accurately follow planned reference trajectories. In particular, reinforcement learning (RL) has shown promise in the synthesis of co…
cs.RO2025
Vision Transformers for End-to-End Vision-Based Quadrotor Obstacle Avoidance
Anish Bhattacharya, Nishanth Rao, Dhruv Parikh +5
We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison…
cs.RO2024
Monocular Event-Based Vision for Obstacle Avoidance with a Quadrotor
Anish Bhattacharya, Marco Cannici, Nishanth Rao +4
We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered env…