7 papers
OA-MPPI: Occlusion-Aware Model Predictive Path Integral Control for UAV Flight
Vittorio Palladino, Teaya Yang, Ruiqi Zhang +1
Autonomous UAV flight through cluttered and partially unknown environments requires reasoning not only about observed obstacles but also about occluded regions that the sensor cann…
Vision-Based Control of a Tether-Suspended Aerial Radiation Sensing Payload
Ian Snider, Brian J. Quiter, Emil Rofors +1
Aerial radiation surveys achieve higher sensitivity when the radiation detector is held close to the ground. Detector sensitivity falls off roughly with the inverse square of the d…
Energy-Efficient Collaborative Transport of Tether-Suspended Payloads via Rotating Equilibrium
Eric Foss, Andrew Tai, Carlo Bosio +1
Collaborative aerial transportation of tethered payloads is fundamentally limited by space, power, and weight constraints. Conventional approaches rely on static equilibrium condit…
Combining Large Language Models and Gradient-Free Optimization for Automatic Control Policy Synthesis
Carlo Bosio, Matteo Guarrera, Alberto Sangiovanni-Vincentelli +1
Large Language models (LLMs) have shown promise as generators of symbolic control policies, producing interpretable program-like representations through iterative search. However,…
Autonomous Close-Proximity Photovoltaic Panel Coating Using a Quadcopter
Dimitri Jacquemont, Carlo Bosio, Teaya Yang +7
Photovoltaic (PV) panels are becoming increasingly widespread in the domain of renewable energy, and thus, small efficiency gains can have massive effects. Anti-reflective and self…
A Tactile Feedback Approach to Path Recovery after High-Speed Impacts for Collision-Resilient Drones
Anton Bredenbeck, Teaya Yang, Salua Hamaza +1
Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they…
Towards Safe and Efficient Through-the-Canopy Autonomous Fruit Counting with UAVs
Teaya Yang, Roman Ibrahimov, Mark W. Mueller
We present an autonomous aerial system for safe and efficient through-the-canopy fruit counting. Aerial robot applications in large-scale orchards face significant challenges due t…