2 citations · 2 across the 2 of their papers we have counts for
7 papers
Volumetric Objectives for Multi-Robot Exploration of Three-Dimensional Environments
Micah Corah, Nathan Michael
Volumetric objectives for exploration and perception tasks seek to capture a sense of value (or reward) for hypothetical observations at one or more camera views for robots operati…
Rotational Error Metrics for Quadrotor Control
Alexander Spitzer, Nathan Michael
We analyze and experimentally compare various rotational error metrics for use in quadrotor controllers. Traditional quadrotor attitude controllers have used Euler angles or the fu…
MRFMap: Online Probabilistic 3D Mapping using Forward Ray Sensor Models
Kumar Shaurya Shankar, Nathan Michael
Traditional dense volumetric representations for robotic mapping make simplifying assumptions about sensor noise characteristics due to computational constraints. We present a fram…
Inverting Learned Dynamics Models for Aggressive Multirotor Control
Alexander Spitzer, Nathan Michael
We present a control strategy that applies inverse dynamics to a learned acceleration error model for accurate multirotor control input generation. This allows us to retain accurat…
Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor
Alex Spitzer, Xuning Yang, John Yao +6
We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables…
RaD-VIO: Rangefinder-aided Downward Visual-Inertial Odometry
Bo Fu, Kumar Shaurya Shankar, Nathan Michael
State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions…