A5069515105- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Underwater Vehicles and Communication Systems
- Maritime and Coastal Archaeology
- Modular Robots and Swarm Intelligence
- Maritime Navigation and Safety
- 3D Surveying and Cultural Heritage
- Robot Manipulation and Learning
- Robotics and Automated Systems
Carnegie Mellon University
2020
Harvey Mudd College
2017-2018
Subterranean robot exploration is difficult, with many mobility, communications, and navigation challenges that require an approach a diverse set of systems, reliable autonomy. While prior work has demonstrated partial successes in addressing the problem, here we convey comprehensive to address problem subterranean wide range tunnel, urban, cave environments. Our driven by themes resiliency modularity, show examples how these influence design different modules. In particular, detail our...
This paper presents a method for constructing 3D maps of marine archaeological sites using deployments Autonomous Underwater Vehicles (AUV) equipped with sonar and cameras. The requires multiple AUV missions in which the first mission directs to conduct high altitude lawnmower scan over area create course bathymetry map sonar. Subsequent then direct make low fly-overs just above wreck goal obtaining camera images from viewpoints enable offboard mapping via photogrammetric reconstruction....
Quadrotor flight in cluttered, unknown environments is challenging due to the limited range of perception sensors, obstacles, and onboard computation. In this work, we directly address these challenges by proposing an efficient, reactive planning approach. We introduce Bitwise Trajectory Elimination (BiTE) algorithm for efficiently filtering out in-collision trajectories from a trajectory library using bitwise operations. Then, outline full receding-horizon approach quadrotor demonstrated at...