572 citations · 2k across the 59 of their papers we have counts for
73 papers
A Data-Driven Approach to Synthesizing Dynamics-Aware Trajectories for Underactuated Robotic Systems
Anusha Srikanthan, Fengjun Yang, Igor Spasojevic +3
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer use…
RotorPy: A Python-based Multirotor Simulator with Aerodynamics for Education and Research
Spencer Folk, James Paulos, Vijay Kumar
Simulators play a critical role in aerial robotics both in and out of the classroom. We present RotorPy, a simulation environment written entirely in Python intentionally designed…
Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization
Jake Welde, Vijay Kumar
Differential flatness enables efficient planning and control for underactuated robotic systems, but we lack a systematic and practical means of identifying a flat output (or determ…
Reinforcement Learning for Agile Active Target Sensing with a UAV
Harsh Goel, Laura Jarin Lipschitz, Saurav Agarwal +2
Active target sensing is the task of discovering and classifying an unknown number of targets in an environment and is critical in search-and-rescue missions. This paper develops a…
Multi-Robot Localization and Target Tracking with Connectivity Maintenance and Collision Avoidance
Rahul Zahroof, Jiazhen Liu, Lifeng Zhou +1
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can…
Any Way You Look At It: Semantic Crossview Localization and Mapping with LiDAR
Ian D. Miller, Anthony Cowley, Ravi Konkimalla +5
Currently, GPS is by far the most popular global localization method. However, it is not always reliable or accurate in all environments. SLAM methods enable local state estimation…