63 citations · 63 across the 1 of their papers we have counts for
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Hybrid Aerial-Ground Vehicle Autonomy in GPS-denied Environments
Tara Bartlett
The DARPA Subterranean Challenge is leading the development of robots capable of mapping underground mines and tunnels up to 8km in length and identify objects and people. Developi…
Real-time Coupled Centroidal Motion and Footstep Planning for Biped Robots
Tara Bartlett, Ian R. Manchester
This paper presents an algorithm that finds a centroidal motion and footstep plan for a Spring-Loaded Inverted Pendulum (SLIP)-like bipedal robot model substantially faster than re…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…
Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments
David D. Fan, Rohan Thakker, Tara Bartlett +4
Hybrid ground and aerial vehicles can possess distinct advantages over ground-only or flight-only designs in terms of energy savings and increased mobility. In this work we outline…
Contact Inertial Odometry: Collisions are your Friends
Thomas Lew, Tomoki Emmei, David D. Fan +4
Autonomous exploration of unknown environments with aerial vehicles remains a challenge, especially in perceptually degraded conditions. Dust, fog, or a lack of visual or LiDAR-bas…