6 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…
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…
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,…
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…
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…
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…