202 citations · 563 across the 65 of their papers we have counts for
8 papers · 1 filter
Fast, Autonomous Flight in GPS-Denied and Cluttered Environments
Kartik Mohta, Michael Watterson, Yash Mulgaonkar +14
One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little…
Search-based Motion Planning for Aggressive Flight in SE(3)
Sikang Liu, Kartik Mohta, Nikolay Atanasov +1
Quadrotors with large thrust-to-weight ratios are able to track aggressive trajectories with sharp turns and high accelerations. In this work, we develop a search-based trajectory…
Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control
Sikang Liu, Nikolay Atanasov, Kartik Mohta +1
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searc…
Memory Augmented Control Networks
Arbaaz Khan, Clark Zhang, Nikolay Atanasov +3
Planning problems in partially observable environments cannot be solved directly with convolutional networks and require some form of memory. But, even memory networks with sophist…
End-to-End Navigation in Unknown Environments using Neural Networks
Arbaaz Khan, Clark Zhang, Nikolay Atanasov +3
We investigate how a neural network can learn perception actions loops for navigation in unknown environments. Specifically, we consider how to learn to navigate in environments po…
A spatiotemporal model with visual attention for video classification
Mo Shan, Nikolay Atanasov
High level understanding of sequential visual input is important for safe and stable autonomy, especially in localization and object detection. While traditional object classificat…
Neural Network Memory Architectures for Autonomous Robot Navigation
Steven W Chen, Nikolay Atanasov, Arbaaz Khan +3
This paper highlights the significance of including memory structures in neural networks when the latter are used to learn perception-action loops for autonomous robot navigation.…
Active End-Effector Pose Selection for Tactile Object Recognition through Monte Carlo Tree Search
Mabel M. Zhang, Nikolay Atanasov, Kostas Daniilidis
This paper considers the problem of active object recognition using touch only. The focus is on adaptively selecting a sequence of wrist poses that achieves accurate recognition by…