6 papers
MORFEO control strategy
Guido Agapito, Lorenzo Busoni, Cédric Plantet +7
The ESO Extremely Large Telescope (ELT) will offer unprecedented sensitivity and resolution in the near-infrared, marking a new era for ground-based astronomy. Among its key imagin…
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…
Heterogeneous Robot Collaboration in Unstructured Environments with Grounded Generative Intelligence
Zachary Ravichandran, Fernando Cladera, Ankit Prabhu +5
Heterogeneous robot teams operating in realistic settings often must accomplish complex missions requiring collaboration and adaptation to information acquired online. Because robo…
Deploying Foundation Model-Enabled Air and Ground Robots in the Field: Challenges and Opportunities
Zachary Ravichandran, Fernando Cladera, Jason Hughes +5
The integration of foundation models (FMs) into robotics has enabled robots to understand natural language and reason about the semantics in their environments. However, existing F…
Air-Ground Collaboration for Language-Specified Missions in Unknown Environments
Fernando Cladera, Zachary Ravichandran, Jason Hughes +6
As autonomous robotic systems become increasingly mature, users will want to specify missions at the level of intent rather than in low-level detail. Language is an expressive and…