18 citations · 19 across the 4 of their papers we have counts for
6 papers · 1 filter
Lunar Rover Localization Using Craters as Landmarks
Larry Matthies, Shreyansh Daftry, Scott Tepsuporn +5
Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measureme…
MLNav: Learning to Safely Navigate on Martian Terrains
Shreyansh Daftry, Neil Abcouwer, Tyler Del Sesto +7
We present MLNav, a learning-enhanced path planning framework for safety-critical and resource-limited systems operating in complex environments, such as rovers navigating on Mars.…
Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching
Tu-Hoa Pham, William Seto, Shreyansh Daftry +11
We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navig…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…
Online Self-supervised Scene Segmentation for Micro Aerial Vehicles
Shreyansh Daftry, Yashasvi Agrawal, Larry Matthies
Recently, there have been numerous advances in the development of payload and power constrained lightweight Micro Aerial Vehicles (MAVs). As these robots aspire for high-speed auto…
Robust Monocular Flight in Cluttered Outdoor Environments
Shreyansh Daftry, Sam Zeng, Arbaaz Khan +4
Recently, there have been numerous advances in the development of biologically inspired lightweight Micro Aerial Vehicles (MAVs). While autonomous navigation is fairly straight-for…