14 citations · 14 across the 15 of their papers we have counts for
16 papers
DORA: Divergence-Oriented Data-Relay Algorithm for Partially Connected Robot Teams
Jonathan Diller, Fernando Cladera, Camillo Jose Taylor +1
Teams of unmanned aerial vehicles (UAVs) deployed for search and monitoring missions frequently operate as partially connected networks, forcing each robot to trade off exploring t…
Meridian: Metric-Semantic Primitive Matching for Cross-View Geo-Localization Beyond Urban Environments
Mason Peterson, Qingyuan Li, Yixuan Jia +4
Successful robot automation requires accurate global localization to support repeatability, task planning, goal specification, and safe operation. However, reliable localization in…
EventShiftFlow: Towards Hardware-efficient FPGA-based Flow Estimation
Arianna Alonso Bizzi, Fernando Cladera, C. J. Taylor
Event-based vision sensors offer asynchronous, high-temporal-resolution measurements that are attractive for low-latency robotic perception, but many event-based motion estimation…
LMPath: Language-Mediated Priors and Path Generation for Aerial Exploration
Jonathan A. Diller, Fernando Cladera, Camillo J. Taylor +1
Traditional autonomous UAV search missions rely on geometric coverage patterns that ignore the semantic context of the target, leading to significant time waste in large-scale envi…
A Multi-Robot Platform for Robotic Triage Combining Onboard Sensing and Foundation Models
Jason Hughes, Marcel Hussing, Edward Zhang +24
This report presents a heterogeneous robotic system designed for remote primary triage in mass-casualty incidents (MCIs). The system employs a coordinated air-ground team of unmann…
HALO: High-Altitude Language-Conditioned Monocular Aerial Exploration and Navigation
Yuezhan Tao, Dexter Ong, Fernando Cladera +4
We demonstrate real-time high-altitude aerial metric-semantic mapping and exploration using a monocular camera paired with a global positioning system (GPS) and an inertial measure…
TACO: Trajectory-Aware Controller Optimization for Quadrotors
Hersh Sanghvi, Spencer Folk, Vijay Kumar +1
Controller performance in quadrotor trajectory tracking depends heavily on parameter tuning, yet standard approaches often rely on fixed, manually tuned parameters that sacrifice t…
Heterogeneous Robot Collaboration in Unstructured Environments with Grounded Generative Intelligence
Zachary Ravichandran, Fernando Cladera, Ankit Prabhu +6
While heterogeneous teams have typically been designed for well-specified missions with known semantics, generative intelligence, i.e., large language models (LLMs) and vision lang…
Real-Time Glass Detection and Reprojection using Sensor Fusion Onboard Aerial Robots
Malakhi Hopkins, Varun Murali, Vijay Kumar +1
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. The…
Deploying Foundation Model-Enabled Air and Ground Robots in the Field: Challenges and Opportunities
Zachary Ravichandran, Fernando Cladera, Jason Hughes +5
The integration of foundation models (FMs) into robotics has enabled robots to understand natural language and reason about the semantics in their environments. However, existing F…
Air-Ground Collaboration for Language-Specified Missions in Unknown Environments
Fernando Cladera, Zachary Ravichandran, Jason Hughes +6
As autonomous robotic systems become increasingly mature, users will want to specify missions at the level of intent rather than in low-level detail. Language is an expressive and…
EvMAPPER: High Altitude Orthomapping with Event Cameras
Fernando Cladera, Kenneth Chaney, M. Ani Hsieh +2
Traditionally, unmanned aerial vehicles (UAVs) rely on CMOS-based cameras to collect images about the world below. One of the most successful applications of UAVs is to generate or…
Air-Ground Collaboration with SPOMP: Semantic Panoramic Online Mapping and Planning
Ian D. Miller, Fernando Cladera, Trey Smith +2
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless n…
OCCAM: Online Continuous Controller Adaptation with Meta-Learned Models
Hersh Sanghvi, Spencer Folk, Camillo Jose Taylor
Control tuning and adaptation present a significant challenge to the usage of robots in diverse environments. It is often nontrivial to find a single set of control parameters by h…
Challenges and Opportunities for Large-Scale Exploration with Air-Ground Teams using Semantics
Fernando Cladera, Ian D. Miller, Zachary Ravichandran +5
One common and desirable application of robots is exploring potentially hazardous and unstructured environments. Air-ground collaboration offers a synergistic approach to addressin…
Enabling Large-scale Heterogeneous Collaboration with Opportunistic Communications
Fernando Cladera, Zachary Ravichandran, Ian D. Miller +3
Multi-robot collaboration in large-scale environments with limited-sized teams and without external infrastructure is challenging, since the software framework required to support…