142 citations · 143 across the 6 of their papers we have counts for
6 papers
Real-Time Sampling-based Online Planning for Drone Interception
Gilhyun Ryou, Lukas Lao Beyer, Sertac Karaman
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational…
Multi-Fidelity Reinforcement Learning for Time-Optimal Quadrotor Re-planning
Gilhyun Ryou, Geoffrey Wang, Sertac Karaman
High-speed online trajectory planning for UAVs poses a significant challenge due to the need for precise modeling of complex dynamics while also being constrained by computational…
Aerobatic Trajectory Generation for a VTOL Fixed-Wing Aircraft Using Differential Flatness
Ezra Tal, Gilhyun Ryou, Sertac Karaman
This paper proposes a novel algorithm for aerobatic trajectory generation for a vertical take-off and landing (VTOL) tailsitter flying wing aircraft. The algorithm differs from exi…
Cooperative Multi-Agent Trajectory Generation with Modular Bayesian Optimization
Gilhyun Ryou, Ezra Tal, Sertac Karaman
We present a modular Bayesian optimization framework that efficiently generates time-optimal trajectories for a cooperative multi-agent system, such as a team of UAVs. Existing met…
Multi-Fidelity Black-Box Optimization for Time-Optimal Quadrotor Maneuvers
Gilhyun Ryou, Ezra Tal, Sertac Karaman
We consider the problem of generating a time-optimal quadrotor trajectory that attains a set of prescribed waypoints. This problem is challenging since the optimal trajectory is lo…
FlightGoggles: A Modular Framework for Photorealistic Camera, Exteroceptive Sensor, and Dynamics Simulation
Winter Guerra, Ezra Tal, Varun Murali +2
FlightGoggles is a photorealistic sensor simulator for perception-driven robotic vehicles. The key contributions of FlightGoggles are twofold. First, FlightGoggles provides photore…