8 citations · 10 across the 5 of their papers we have counts for
5 papers
Real-Time Thermal-Inertial Odometry on Embedded Hardware for High-Speed GPS-Denied Flight
Austin Stone, Mark Petersen, Cammy Peterson
We present a real-time monocular thermal-inertial odometry system designed for high-velocity, GPS-denied flight on embedded hardware. The system fuses measurements from a FLIR Boso…
Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets
Thomas Cohn, Mark Petersen, Max Simchowitz +1
Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory o…
Growing Convex Collision-Free Regions in Configuration Space using Nonlinear Programming
Mark Petersen, Russ Tedrake
One of the most difficult parts of motion planning in configuration space is ensuring a trajectory does not collide with task-space obstacles in the environment. Generating regions…
Motion Planning around Obstacles with Convex Optimization
Tobia Marcucci, Mark Petersen, David von Wrangel +1
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered w…
The Integrated Probabilistic Data Association Filter Adapted to Lie Groups
Mark E. Petersen, Randal W. Beard
The Integrated Probabilistic Data Association Filter (IPDAF) is a target tracking algorithm based on the Probabilistic Data Association Filter that calculates a statistical measure…