18 citations · 20 across the 3 of their papers we have counts for
5 papers · 1 filter
Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors
Seyed Fakoorian, Angel Santamaria-Navarro, Brett T. Lopez +2
This work proposes a resilient and adaptive state estimation framework for robots operating in perceptually-degraded environments. The approach, called Adaptive Maximum Correntropy…
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…
Sliding on Manifolds: Geometric Attitude Control with Quaternions
Brett T. Lopez, Jean-Jacques E. Slotine
This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sli…
FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments
Jesus Tordesillas, Brett T. Lopez, Jonathan P. How
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the op…
Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments
Jesus Tordesillas, Brett T. Lopez, John Carter +2
Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begu…