202 citations · 264 across the 9 of their papers we have counts for
9 papers
MARC: Multipolicy and Risk-aware Contingency Planning for Autonomous Driving
Tong Li, Lu Zhang, Sikang Liu +1
Generating safe and non-conservative behaviors in dense, dynamic environments remains challenging for automated vehicles due to the stochastic nature of traffic participants' behav…
Towards Search-based Motion Planning for Micro Aerial Vehicles
Sikang Liu, Kartik Mohta, Nikolay Atanasov +1
Search-based motion planning has been used for mobile robots in many applications. However, it has not been fully developed and applied for planning full state trajectories of Micr…
The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots
Morgan Quigley, Kartik Mohta, Shreyas S. Shivakumar +8
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a sys…
Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight
Kartik Mohta, Ke Sun, Sikang Liu +6
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such…
Human Motion Capture Using a Drone
Xiaowei Zhou, Sikang Liu, Georgios Pavlakos +2
Current motion capture (MoCap) systems generally require markers and multiple calibrated cameras, which can be used only in constrained environments. In this work we introduce a dr…
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…