23 citations · 54 across the 9 of their papers we have counts for
9 papers
Trajectories for the Optimal Collection of Information
Matthew R. Kirchner, David Grimsman, Joao P. Hespanha +1
We study a scenario where an aircraft has multiple heterogeneous sensors collecting measurements to track a target vehicle of unknown location. The measurements are sampled along t…
Reachability as a Unifying Framework for Computing Helicopter Safe Operating Conditions and Autonomous Emergency Landing
Matthew R. Kirchner, Eddie Ball, Jacques Hoffler +1
We present a numeric method to compute the safe operating flight conditions for a helicopter such that we can ensure a safe landing in the event of a partial or total engine failur…
The Impact of Message Passing in Agent-Based Submodular Maximization
David Grimsman, Matthew R. Kirchner, João P. Hespanha +1
This paper considers a set of sensors, which as a group are tasked with taking measurements of the environment and sending a small subset of the measurements to a centralized data…
A Hamilton-Jacobi Formulation for Optimal Coordination of Heterogeneous Multiple Vehicle Systems
Matthew R. Kirchner, Mark J. Debord, João P. Hespanha
We present a method for optimal coordination of multiple vehicle teams when multiple endpoint configurations are equally desirable, such as seen in the autonomous assembly of forma…
Heterogeneous Measurement Selection for Vehicle Tracking using Submodular Optimization
Matthew R. Kirchner, João P. Hespanha, Denis Garagić
We study a scenario where a group of agents, each with multiple heterogeneous sensors are collecting measurements of a vehicle and the measurements are transmitted over a communica…
A Level Set Approach to Online Sensing and Trajectory Optimization with Time Delays
Matthew R. Kirchner
Presented is a method to compute certain classes of Hamilton-Jacobi equations that result from optimal control and trajectory generation problems with time delays. Many robotic con…
Automatic Thresholding of SIFT Descriptors
Matthew R. Kirchner
We introduce a method to perform automatic thresholding of SIFT descriptors that improves matching performance by at least 15.9% on the Oxford image matching benchmark. The method…
A Primal-Dual Method for Optimal Control and Trajectory Generation in High-Dimensional Systems
Matthew R. Kirchner, Gary Hewer, Jerome Darbon +1
Presented is a method for efficient computation of the Hamilton-Jacobi (HJ) equation for time-optimal control problems using the generalized Hopf formula. Typically, numerical meth…
Time-Optimal Collaborative Guidance Using the Generalized Hopf Formula
Matthew R. Kirchner, Robert Mar, Gary Hewer +3
Presented is a new method for calculating the time-optimal guidance control for a multiple vehicle pursuit-evasion system. A joint differential game of k pursuing vehicles relative…