40 citations · 57 across the 3 of their papers we have counts for
4 papers
SymForce: Symbolic Computation and Code Generation for Robotics
Hayk Martiros, Aaron Miller, Nathan Bucki +13
We present SymForce, a library for fast symbolic computation, code generation, and nonlinear optimization for robotics applications like computer vision, motion planning, and contr…
Design and Control of a Midair-Reconfigurable Quadcopter using Unactuated Hinges
Nathan Bucki, Jerry Tang, Mark W. Mueller
A novel quadcopter capable of changing shape mid-flight is presented, allowing for operation in four configurations with the capability of sustained hover in three. This is accompl…
Rectangular Pyramid Partitioning using Integrated Depth Sensors (RAPPIDS): A Fast Planner for Multicopter Navigation
Nathan Bucki, Junseok Lee, Mark W. Mueller
We present RAPPIDS: a novel collision checking and planning algorithm for multicopters that is capable of quickly finding local collision-free trajectories given a single depth ima…
Rapid Collision Detection for Multicopter Trajectories
Nathan Bucki, Mark W. Mueller
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is u…