4 papers
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…
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…
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…