4 citations · 4 across the 7 of their papers we have counts for
8 papers
WESPR: Wind-adaptive Energy-Efficient Safe Perception & Planning for Robust Flight with Quadrotors
Khuzema Habib, Pranav Deshakulkarni Manjunath, Kasra Torshizi +2
Local wind conditions strongly influence drone performance: headwinds increase flight time, crosswinds and wind shear hinder agility in cluttered spaces, while tailwinds reduce tra…
Contextual Neural Moving Horizon Estimation for Robust Quadrotor Control in Varying Conditions
Kasra Torshizi, Chak Lam Shek, Khuzema Habib +3
Adaptive controllers on quadrotors typically rely on estimation of disturbances to ensure robust trajectory tracking. Estimating disturbances across diverse environmental contexts…
The SET Perceptual Factors Framework: Towards Assured Perception for Autonomous Systems
Troi Williams
Future autonomous systems promise significant societal benefits, yet their deployment raises concerns about safety and trustworthiness. A key concern is assuring the reliability of…
When to Localize? A POMDP Approach
Troi Williams, Kasra Torshizi, Pratap Tokekar
Robots often localize to lower navigational errors and facilitate downstream, high-level tasks. However, a robot may want to selectively localize when localization is costly (such…
When to Localize? A Risk-Constrained Reinforcement Learning Approach
Chak Lam Shek, Kasra Torshizi, Troi Williams +1
In a standard navigation pipeline, a robot localizes at every time step to lower navigational errors. However, in some scenarios, a robot needs to selectively localize when it is e…
GATSBI: An Online GTSP-Based Algorithm for Targeted Surface Bridge Inspection and Defect Detection
Harnaik Dhami, Charith Reddy, Vishnu Dutt Sharma +2
We study the problem of visual surface inspection of infrastructure for defects using an Unmanned Aerial Vehicle (UAV). We do not assume that the geometric model of the infrastruct…
Where Am I Now? Dynamically Finding Optimal Sensor States to Minimize Localization Uncertainty for a Perception-Denied Rover
Troi Williams, Po-Lun Chen, Sparsh Bhogavilli +2
We present DyFOS, an active perception method that dynamically finds optimal states to minimize localization uncertainty while avoiding obstacles and occlusions. We consider the sc…
GATSBI: An Online GTSP-Based Algorithm for Targeted Surface Bridge Inspection
Harnaik Dhami, Kevin Yu, Troi Williams +2
We study the problem of visual surface inspection of a bridge for defects using an Unmanned Aerial Vehicle (UAV). We do not assume that the geometric model of the bridge is known b…