6 accepted papers
Agile MAVs are required to operate in cluttered, unstructured environments at high speeds and low altitudes for efficient data gathering. Given the payload constraints and long range sensing requirements, cameras are the preferred sensing modality for MAVs. The computation burden of using cameras fo…
The last decade has seen a massive growth in applications for Micro-Aerial Vehicles (MAVs), due in large part to their versatility for data gathering with cameras, LiDAR and various other sensors. Their ability to quickly go from assessing large spaces from a high vantage points to flying in close t…
Maximizing information gathered within a budget is a relevant problem for information gathering tasks for robots with cost or operating time constraints. This problem is also known as the informative path planning (IPP) problem or correlated orienteering. It can be formalized as that of finding budg…
Autonomous mobile robots are required to operate in partially known and unstructured environments. It is imperative to guarantee safety of such systems for their successful deployment. Current state of the art does not fully exploit the sensor and dynamic capabilities of a robot. Also, given the non…
Capabilities of mobile autonomous systems is often limited by the sensory constraints. Range sensors moving in a fixed pattern are commonly used as sensing modalities on mobile robots. The performance of these sensors can be augmented by actively controlling their configuration for minimizing the ex…
Autonomous systems that navigate in unknown environments encounter a variety of planning problems. The success of any one particular planning strategy depends on the validity of assumptions it leverages about the structure of the problem, e.g., Is the cost map locally convex? Does the feasible state…