5 papers
Design, Localization, Perception, and Control for GPS-Denied Autonomous Aerial Grasping and Harvesting
Ashish Kumar, Laxmidhar Behera
In this paper, we present a comprehensive UAV system design to perform the highly complex task of off-centered aerial grasping. This task has several interdisciplinary research cha…
Thrust Microstepping via Acceleration Feedback in Quadrotor Control for Aerial Grasping of Dynamic Payload
Ashish Kumar, Laxmidhar Behera
In this work, we propose an end-to-end Thrust Microstepping and Decoupled Control (TMDC) of quadrotors. TMDC focuses on precise off-centered aerial grasping of payloads dynamically…
High-Speed Stereo Visual SLAM for Low-Powered Computing Devices
Ashish Kumar, Jaesik Park, Laxmidhar Behera
We present an accurate and GPU-accelerated Stereo Visual SLAM design called Jetson-SLAM. It exhibits frame-processing rates above 60FPS on NVIDIA's low-powered 10W Jetson-NX embedd…
Pick-or-Mix: Dynamic Channel Sampling for ConvNets
Ashish Kumar, Daneul Kim, Jaesik Park +1
Channel pruning approaches for convolutional neural networks (ConvNets) deactivate the channels, statically or dynamically, and require special implementation. In addition, channel…
High-Speed Detector For Low-Powered Devices In Aerial Grasping
Ashish Kumar, Laxmidhar Behera
Autonomous aerial harvesting is a highly complex problem because it requires numerous interdisciplinary algorithms to be executed on mini low-powered computing devices. Object dete…