5 citations · 11 across the 6 of their papers we have counts for
13 papers · 1 filter
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter +38
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy h…
Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles
Shuxiao Chen, Xiangyu Wu, Mark W. Mueller +1
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localiz…
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update
Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath
This paper proposes a state estimator for legged robots operating in slippery environments. An Invariant Extended Kalman Filter (InEKF) is implemented to fuse inertial and velocity…
Autonomous Flight through Cluttered Outdoor Environments Using a Memoryless Planner
Junseok Lee, Xiangyu Wu, Seung Jae Lee +1
This paper introduces a collision avoidance system for navigating a multicopter in cluttered outdoor environments based on the recent memory-less motion planner, rectangular pyrami…
Docking two multirotors in midair using relative vision measurements
Karan P. Jain, Minos Park, Mark W. Mueller
Modular robots have been rising in popularity for a variety of applications, and autonomous midair docking is a necessary task for real world deployment of these robots. We present…
Exploiting collisions for sampling-based multicopter motion planning
Jiaming Zha, Mark W. Mueller
Multicopters with collision-resilient designs can operate with trajectories involving collisions. This paper presents a sampling-based method that can exploit collisions for better…