26 citations · 30 across the 7 of their papers we have counts for
4 papers · 2 filters
Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots
Kshitij Goel, Wennie Tabib, Nathan Michael
This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved pr…
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…
Autonomous Cave Surveying with an Aerial Robot
Wennie Tabib, Kshitij Goel, John Yao +2
This paper presents a method for cave surveying in total darkness using an autonomous aerial vehicle equipped with a depth camera for mapping, downward-facing camera for state esti…