52 citations · 121 across the 14 of their papers we have counts for
14 papers
Learning Agile Intruder Interception using Differentiable Quadrotor Dynamics
Michael Anoruo, Xiaoyu Tian, Abhishek Rathod +5
This paper presents a methodology for learning a control policy to intercept an intruder using the 3D direction unit vector to the intruder and the interceptor state. Prior deep re…
Zero-Shot Metric Depth Estimation via Monocular Visual-Inertial Rescaling for Autonomous Aerial Navigation
Steven Yang, Xiaoyu Tian, Kshitij Goel +1
This paper presents a methodology to predict metric depth from monocular RGB images and an inertial measurement unit (IMU). To enable collision avoidance during autonomous flight,…
Quadrotor Navigation using Reinforcement Learning with Privileged Information
Jonathan Lee, Abhishek Rathod, Kshitij Goel +2
This paper presents a reinforcement learning-based quadrotor navigation method that leverages efficient differentiable simulation, novel loss functions, and privileged information…
Rapid Quadrotor Navigation in Diverse Environments using an Onboard Depth Camera
Jonathan Lee, Abhishek Rathod, Kshitij Goel +2
Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Bec…
Decentralized Uncertainty-Aware Active Search with a Team of Aerial Robots
Wennie Tabib, John Stecklein, Caleb McDowell +15
Rapid search and rescue is critical to maximizing survival rates following natural disasters. However, these efforts are challenged by the need to search large disaster zones, lack…
Distance and Collision Probability Estimation from Gaussian Surface Models
Kshitij Goel, Wennie Tabib
This paper describes continuous-space methodologies to estimate the collision probability, Euclidean distance and gradient between an ellipsoidal robot model and an environment sur…
Incremental Multimodal Surface Mapping via Self-Organizing Gaussian Mixture Models
Kshitij Goel, Wennie Tabib
This letter describes an incremental multimodal surface mapping methodology, which represents the environment as a continuous probabilistic model. This model enables high-resolutio…
GIRA: Gaussian Mixture Models for Inference and Robot Autonomy
Kshitij Goel, Wennie Tabib
This paper introduces the open-source framework, GIRA, which implements fundamental robotics algorithms for reconstruction, pose estimation, and occupancy modeling using compact ge…
Probabilistic Point Cloud Modeling via Self-Organizing Gaussian Mixture Models
Kshitij Goel, Nathan Michael, Wennie Tabib
This letter presents a continuous probabilistic modeling methodology for spatial point cloud data using finite Gaussian Mixture Models (GMMs) where the number of components are ada…
Collaborative Human-Robot Exploration via Implicit Coordination
Yves Georgy Daoud, Kshitij Goel, Nathan Michael +1
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems requir…
Hierarchical Collision Avoidance for Adaptive-Speed Multirotor Teleoperation
Kshitij Goel, Yves Georgy Daoud, Nathan Michael +1
This paper improves safe motion primitives-based teleoperation of a multirotor by developing a hierarchical collision avoidance method that modulates maximum speed based on environ…
Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots
Kshitij Goel, Wennie Tabib, Nathan Michael
This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved pr…
Autonomous Cave Surveying with an Aerial Robot
Wennie Tabib, Kshitij Goel, John Yao +2
This paper presents a method for cave surveying in total darkness using an autonomous aerial vehicle equipped with a depth camera for mapping, downward-facing camera for state esti…
Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor
Alex Spitzer, Xuning Yang, John Yao +6
We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables…