1 citations · 2 across the 9 of their papers we have counts for
6 papers · 1 filter
Underwater Dead Reckoning with Deployable Situation-Triggered Covariance Scheduling
Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage +1
Underwater dead reckoning estimates vehicle position when vision is unavailable and external positioning cannot be assumed. A single set of filter parameters can work well in many…
Hybrid Terrain-Aware Path Planning: Integrating VD-RRT* Exploration and VD-D* Lite Repair
Akshay Naik, William R. Norris, Dustin Nottage +1
Autonomous ground vehicles operating off-road must plan curvature-feasible paths while accounting for spatially varying soil strength and slope hazards in real time. We present a c…
In-Situ Soil-Property Estimation and Bayesian Mapping with a Simulated Compact Track Loader
W. Jacob Wagner, Ahmet Soylemezoglu, Katherine Driggs-Campbell
Existing earthmoving autonomy is largely confined to highly controlled and well-characterized environments due to the complexity of vehicle-terrain interaction dynamics and the par…
Cooperative Modular Manipulation with Numerous Cable-Driven Robots for Assistive Construction and Gap Crossing
Kevin Murphy, Joao C. V. Soares, Justin K. Yim +3
Soldiers in the field often need to cross negative obstacles, such as rivers or canyons, to reach goals or safety. Military gap crossing involves on-site temporary bridges construc…
In Situ Soil Property Estimation for Autonomous Earthmoving Using Physics-Infused Neural Networks
W. Jacob Wagner, Ahmet Soylemezoglu, Dustin Nottage +1
A novel, learning-based method for in situ estimation of soil properties using a physics-infused neural network (PINN) is presented. The network is trained to produce estimates of…
A Robust Localization Solution for an Uncrewed Ground Vehicle in Unstructured Outdoor GNSS-Denied Environments
W. Jacob Wagner, Isaac Blankenau, Maribel DeLaTorre +2
This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellit…