5 papers
Real Time Local Wind Inference for Robust Autonomous Navigation
Spencer Folk
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core n…
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…
Quad-LCD: Layered Control Decomposition Enables Actuator-Feasible Quadrotor Trajectory Planning
Anusha Srikanthan, Hanli Zhang, Spencer Folk +2
In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in qua…
Modeling, Planning, and Control for Hybrid UAV Transition Maneuvers
Spencer Folk
Small unmanned aerial vehicles (UAVs) have become standard tools in reconnaissance and surveying for both civilian and defense applications. In the future, UAVs will likely play a…
OCCAM: Online Continuous Controller Adaptation with Meta-Learned Models
Hersh Sanghvi, Spencer Folk, Camillo Jose Taylor
Control tuning and adaptation present a significant challenge to the usage of robots in diverse environments. It is often nontrivial to find a single set of control parameters by h…