52 citations · 140 across the 14 of their papers we have counts for
16 papers
Probabilistic Point Cloud Modeling via Self-Organizing Gaussian Mixture Models
Kshitij Goel, Nathan Michael, Wennie Tabib
This letter presents a continuous probabilistic modeling methodology for spatial point cloud data using finite Gaussian Mixture Models (GMMs) where the number of components are ada…
Collaborative Human-Robot Exploration via Implicit Coordination
Yves Georgy Daoud, Kshitij Goel, Nathan Michael +1
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems requir…
Hierarchical Collision Avoidance for Adaptive-Speed Multirotor Teleoperation
Kshitij Goel, Yves Georgy Daoud, Nathan Michael +1
This paper improves safe motion primitives-based teleoperation of a multirotor by developing a hierarchical collision avoidance method that modulates maximum speed based on environ…
An imminent collision monitoring system with safe stopping interventions for autonomous aerial flights
Jasmine Cheng, Xuning Yang, Nathan Michael
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitig…
Scalable Distributed Planning for Multi-Robot, Multi-Target Tracking
Micah Corah, Nathan Michael
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-…
Feedback Linearization for Quadrotors with a Learned Acceleration Error Model
Alexander Spitzer, Nathan Michael
This paper enhances the feedback linearization controller for multirotors with a learned acceleration error model and a thrust input delay mitigation model. Feedback linearization…