4 papers · 1 filter
Real-time Uncertainty-Aware Motion Planning for Magnetic-based Navigation
Aditya Penumarti, Kristy Waters, Humberto Ramos +2
Localization in GPS-denied environments is critical for autonomous systems, and traditional methods like SLAM have limitations in generalizability across diverse environments. Magn…
GPU-Accelerated 3D Polygon Visibility Volumes for Synergistic Perception and Navigation
Andrew Willis, Collin Hague, Artur Wolek +1
UAV missions often require specific geometric constraints to be satisfied between ground locations and the vehicle location. Such requirements are typical for contexts where line-o…
Learning Flight Control Systems from Human Demonstrations and Real-Time Uncertainty-Informed Interventions
Prashant Ganesh, J. Humberto Ramos, Vinicius G. Goecks +4
This paper describes a methodology for learning flight control systems from human demonstrations and interventions while considering the estimated uncertainty in the learned models…
Incremental cycle bases for cycle-based pose graph optimization
Brendon Forsgren, Kevin Brink, Prashant Ganesh +1
Pose graph optimization is a special case of the simultaneous localization and mapping problem where the only variables to be estimated are pose variables and the only measurements…