BehÇet AÇikmeşe — accepted AI-conference papers

2023

HALO: Hazard-Aware Landing Optimization for Autonomous Systems

Christopher R. Hayner, Samuel C. Buckner, Daniel Broyles, Evelyn Madewell, Karen Leung, Behçet Açikmeşe

ICRA 2023poster

With autonomous aerial vehicles enacting safety-critical missions, such as the Mars Science Laboratory Curiosity rover's landing on Mars, the tasks of automatically identifying and reasoning about potentially hazardous landing sites is paramount. This paper presents a coupled perception-planning sol…

Cited by 11 Source ↗code ↗Scholar ↗

2019

Real-Time Quad-Rotor Path Planning Using Convex Optimization and Compound State-Triggered Constraints

Michael Szmuk, Danylo Malyuta, Taylor P. Reynolds, Margaret Skye Mceowen, Behçet Açikmeşe

IROS 2019poster

The contribution of this paper is the application of compound state-triggered constraints (STCs) to real-time quadrotor path planning. Originally developed for rocket landing applications, STCs are made up of a trigger condition and a constraint condition that are arranged such that satisfaction of…

Cited by 41 Source ↗Scholar ↗

2018

Real-Time Quad-Rotor Path Planning for Mobile Obstacle Avoidance Using Convex Optimization

Michael Szmuk, Carlo Alberto Pascucci, BehÇet AÇikmeşe

IROS 2018poster

In this paper, we employ convex optimization to perform real-time 3-dimensional path planning on-board a quad-rotor and demonstrate its real-time capabilities. Building on our previous work, we make the following modifications: (1)we assume the obstacles are mobile, and (2)we introduce a simple fram…

Cited by 33 Source ↗Scholar ↗