10 papers
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…