14 citations · 14 across the 15 of their papers we have counts for
7 papers · 2 filters
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…