5 papers · 1 filter
Design and Evaluation of Motion Planners for Quadrotors in Environments with Varying Complexities
Yifei Simon Shao, Yuwei Wu, Laura Jarin-Lipschitz +2
Motion planning techniques for quadrotors have advanced significantly over the past decade. Most successful planners have two stages: a front-end that determines a path that incorp…
Experiments in Adaptive Replanning for Fast Autonomous Flight in Forests
Laura Jarin-Lipschitz, Xu Liu, Yuezhan Tao +1
Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-c…
Dispersion-Minimizing Motion Primitives for Search-Based Motion Planning
Laura Jarin-Lipschitz, James Paulos, Raymond Bjorkman +1
Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weig…
Robust, Perception Based Control with Quadrotors
Laura Jarin-Lipschitz, Rebecca Li, Ty Nguyen +2
Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state esti…
Mine Tunnel Exploration using Multiple Quadrupedal Robots
Ian D. Miller, Fernando Cladera, Anthony Cowley +11
Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees…