5 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 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…
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…