7 accepted papers
Control of off-road vehicles is challenging due to the complex dynamic interactions with the terrain. Accurate modeling of these interactions is important to optimize driving performance, but the relevant physical phenomena, such as slip, are too complex to model from first principles. Therefore, we
"We present the first publicly-available RGB-thermal dataset designed for aerial robotics operating in natural environments. Our dataset captures a variety of terrain across the United States, including rivers, lakes, coastlines, deserts, and forests, and consists of synchronized RGB, thermal, globa…
Many multirotor aircraft use redundant configurations to maintain control in the event of an actuator failure. Due to the redundancy of the system, fault isolation is inherently difficult and further compounded by complex interacting aerodynamics of the propellers, wings, and body. This paper presen
We present a new method to automatically generate semantic segmentation annotations for thermal imagery captured from an aerial vehicle by utilizing satellite-derived data products alongside onboard global positioning and attitude estimates. This new capability overcomes the challenge of developing…
We present a new method to adapt an RGB-trained water segmentation network to target-domain aerial thermal imagery using online self-supervision by leveraging texture and motion cues as supervisory signals. This new thermal capability enables current autonomous aerial robots operating in near-shore…
We present a self-improving, Neural Tree Expansion (NTE) method for multi-robot online planning in non-cooperative environments, where each robot attempts to maximize its cumulative reward while interacting with other self-interested robots. Our algorithm adapts the centralized, perfect information,
Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically-launched, autono…