202 citations · 237 across the 4 of their papers we have counts for
4 papers
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
Ke Sun, Kartik Mohta, Bernd Pfrommer +5
In recent years, vision-aided inertial odometry for state estimation has matured significantly. However, we still encounter challenges in terms of improving the computational effic…
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…