7 papers · 1 filter
CUDA MPC: A GPU-Native Solver for Model Predictive Control
Babak Akbari, Melissa Greeff
Model Predictive Control (MPC) delivers constraint-aware control, but its reliance on online optimization limits its use on systems with fast dynamics, high-dimensional models, or…
Lights Out: A Nighttime UAV Localization Framework Using Thermal Imagery and Semantic 3D Maps
Ryan Allen, Melissa Greeff
Reliable backup localization for unmanned aerial vehicles (UAVs) operating in GNSS-denied nighttime conditions remains an open challenge due to the severe modality gap between dayt…
A Lightweight Toggleable Adhesion Prototype for Multirotor UAV Landing on Tilting Platforms
Teighin Nordholt, Melissa Greeff
Autonomous multirotor landings on uncrewed surface vessels (USVs) are critical for persistent maritime operations but remain challenging due to wave-induced tilt, wind disturbances…
Impact-Aware Model Predictive Control for UAV Landing on a Heaving Platform
Jess Stephenson, Melissa Greeff
Landing UAVs on heaving marine platforms is challenging because relative vertical motion can generate large impact forces and cause rebound on touchdown. To address this, we develo…
Tiny Learning-Based MPC for Multirotors: Solver-Aware Learning for Efficient Embedded Predictive Control
Babak Akbari, Justin Frank, Melissa Greeff
Tiny aerial robots hold great promise for applications such as environmental monitoring and search-and-rescue, yet face significant control challenges due to limited onboard comput…
UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat
Desiree Fisker, Alexander Krawciw, Sven Lilge +2
This paper presents Virtual Teach and Repeat (VirT&R): an extension of the Teach and Repeat (T&R) framework that enables GPS-denied, zero-shot autonomous ground vehicle navigation…