65 citations · 191 across the 17 of their papers we have counts for
17 papers
Evaluation of Vision-Language Models Across Diverse Coastal Environments
Seth Knoop, Chad R. Samuelson, Gabriel R. Slade +2
Vision-language models (VLMs) enable robotic per- ception by associating visual observations with natural-language concepts. Yet their performance in coastal environments remains l…
Coastal Environment Generation with HoloOcean
Abigail Austin, Brady Moon, Joshua G. Mangelson
Marine robotic simulation provides a safe and inexpensive method of developing and testing algorithms for unmanned underwater vehicle (UUV) and unmanned surface vessel (USV) autono…
CougarTail & CUB: A General-Purpose Mast and Central Utility Board for Cylindrical Underwater Enclosures
Ben Washburn, Clayton Smith, Eli Gaskin +4
Cylindrical watertight enclosures are widely used across various underwater systems, from unmanned underwater vehicles (UUVs), to remotely operated vehicles (ROVs), to various sens…
IA-TIGRIS: An Incremental and Adaptive Sampling-Based Planner for Online Informative Path Planning
Brady Moon, Nayana Suvarna, Andrew Jong +4
Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collectio…
Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV
Aditya Parandekar, Brady Moon, Nayana Suvarna +1
Uncrewed Aerial Vehicles (UAVs) are a leading choice of platforms for a variety of information-gathering applications. Sensor planning can enhance the efficiency and success of the…
UniSaT: Unified-Objective Belief Model and Planner to Search for and Track Multiple Objects
Leonardo Santos, Brady Moon, Sebastian Scherer +1
Path planning for autonomous search and tracking of multiple objects is a critical problem in applications such as reconnaissance, surveillance, and data gathering. Due to the inhe…
TartanAviation: Image, Speech, and ADS-B Trajectory Datasets for Terminal Airspace Operations
Jay Patrikar, Joao Dantas, Brady Moon +7
We introduce TartanAviation, an open-source multi-modal dataset focused on terminal-area airspace operations. TartanAviation provides a holistic view of the airport environment by…
Aerial Field Robotics
Mihir Kulkarni, Brady Moon, Kostas Alexis +1
Aerial field robotics research represents the domain of study that aims to equip unmanned aerial vehicles - and as it pertains to this chapter, specifically Micro Aerial Vehicles (…
WIT-UAS: A Wildland-fire Infrared Thermal Dataset to Detect Crew Assets From Aerial Views
Andrew Jong, Mukai Yu, Devansh Dhrafani +4
We present the Wildland-fire Infrared Thermal (WIT-UAS) dataset for long-wave infrared sensing of crew and vehicle assets amidst prescribed wildland fire environments. While such a…
Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles using Dubins Set Classification
Brady Moon, Sagar Sachdev, Junbin Yuan +1
Time-optimal path planning in high winds for a turning-rate constrained UAV is a challenging problem to solve and is important for deployment and field operations. Previous works h…
Challenges in Close-Proximity Safe and Seamless Operation of Manned and Unmanned Aircraft in Shared Airspace
Jay Patrikar, Joao P. A. Dantas, Sourish Ghosh +11
We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achi…
PyPose: A Library for Robot Learning with Physics-based Optimization
Chen Wang, Dasong Gao, Kuan Xu +34
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physic…
AirTrack: Onboard Deep Learning Framework for Long-Range Aircraft Detection and Tracking
Sourish Ghosh, Jay Patrikar, Brady Moon +2
Detect-and-Avoid (DAA) capabilities are critical for safe operations of unmanned aircraft systems (UAS). This paper introduces, AirTrack, a real-time vision-only detect and trackin…
TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning
Brady Moon, Satrajit Chatterjee, Sebastian Scherer
Informative path planning is an important and challenging problem in robotics that remains to be solved in a manner that allows for wide-spread implementation and real-world practi…
Predicting Like A Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace
Jay Patrikar, Brady Moon, Jean Oh +1
Pilots operating aircraft in un-towered airspace rely on their situational awareness and prior knowledge to predict the future trajectories of other agents. These predictions are c…
CVaR-based Flight Energy Risk Assessment for Multirotor UAVs using a Deep Energy Model
Arnav Choudhry, Brady Moon, Jay Patrikar +2
Energy management is a critical aspect of risk assessment for Uncrewed Aerial Vehicle (UAV) flights, as a depleted battery during a flight brings almost guaranteed vehicle damage a…
In-flight positional and energy use data set of a DJI Matrice 100 quadcopter for small package delivery
Thiago A. Rodrigues, Jay Patrikar, Arnav Choudhry +9
We autonomously direct a small quadcopter package delivery Uncrewed Aerial Vehicle (UAV) or "drone" to take off, fly a specified route, and land for a total of 209 flights while va…