61 citations · 81 across the 14 of their papers we have counts for
6 papers · 1 filter
UWB Meets Crazyflow: Simulating Degraded Feedback at Scale for Aerial Robotics
Martin Schuck, Marcel P. Rath, Yufei Hua +3
In this work, we introduce Crazyflow, an accurate, differentiable simulator built on JAX. By leveraging jit compilation via XLA, Crazyflow unifies physics and control into a single…
BLT*: Informed Belief Localization Trees for Uncertainty-Aware Planning on Digital Twins
Elliot Preston-Krebs, Abhishek Goudar, Timothy D. Barfoot
We present Informed Belief Localization Trees* (Informed BLT*), a sampling-based belief space planning (BSP) algorithm that scales to large outdoor digital twins with point-cloud o…
Following a Unique Path: A Fast Certifier Applied to Outlier-Robust Pose Registration
Connor Holmes, Abhishek Goudar, Timothy D. Barfoot
Certifiable methods have arisen as a means to guarantee global optimality of solutions to non-convex problems using convex semidefinite programming (SDP) relaxations. The most perf…
Crazyflow: An Accurate, GPU-Accelerated, Differentiable Drone Simulator in JAX
Martin Schuck, Marcel P. Rath, Yufei Hua +3
High-quality, large-scale synthetic data from simulations is becoming a cornerstone for pushing robots' capabilities. While aerial robotics simulators have evolved to support speci…
Sensor Query Schedule and Sensor Noise Covariances for Accuracy-constrained Trajectory Estimation
Abhishek Goudar, Angela P. Schoellig
Trajectory estimation involves determining the trajectory of a mobile robot by combining prior knowledge about its dynamic model with noisy observations of its state obtained using…
Decentralized and Fully Onboard: Range-Aided Cooperative Localization and Navigation on Micro Aerial Vehicles
Abhishek Goudar, Angela P. Schoellig
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globa…