5 accepted papers
We present SymForce, a library for fast symbolic computation, code generation, and nonlinear optimization for robotics applications like computer vision, motion planning, and controls. SymForce combines the development speed and flexibility of symbolic math with the performance of autogenerated, hig…
We present RAPPIDS: a novel collision checking and planning algorithm for multicopters that is capable of quickly finding local collision-free trajectories given a single depth image from an onboard camera. The primary contribution of this work is a new pyramid-based spatial partitioning method that
This paper presents a novel quadcopter design that uses passive rotary joints to enable rapid aerial morphing without the use of additional actuators. The normally rigid connections between the arms of the quadcopter and the central body are replaced by sprung hinges that allow for the arms of the q…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory generation method to achieve rapid, obstacle-aware motion pla…
This paper presents a novel quadcopter design with an added momentum wheel for enhanced stability. The novel vehicle has improved torque disturbance rejection capabilities compared to a standard quadcopter. An analysis of the vehicle dynamics shows that the effect of torque disturbances decreases mo…