142 citations · 145 across the 8 of their papers we have counts for
8 papers
WiSwarm: Age-of-Information-based Wireless Networking for Collaborative Teams of UAVs
Vishrant Tripathi, Igor Kadota, Ezra Tal +4
The Age-of-Information (AoI) metric has been widely studied in the theoretical communication networks and queuing systems literature. However, experimental evaluation of its applic…
Global Incremental Flight Control for Agile Maneuvering of a Tailsitter Flying Wing
Ezra Tal, Sertac Karaman
This paper proposes a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing unmanned aerial vehicle (UAV) that transitions between vertical t…
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-Modal Motion Planning Using Composite Pose Graph Optimization
L. Lao Beyer, N. Balabanska, E. Tal +1
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle…
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…
Accurate Tracking of Aggressive Quadrotor Trajectories using Incremental Nonlinear Dynamic Inversion and Differential Flatness
Ezra Tal, Sertac Karaman
Autonomous unmanned aerial vehicles (UAVs) that can execute aggressive (i.e., high-speed and high-acceleration) maneuvers have attracted significant attention in the past few years…