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AIR Lab

An intelligent robot lab

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Publications

  • Modeling and Control of Coaxial UAV with Swashplate Controlled Lower Propeller

    Richard Lee, Koushil Sreenath, and Sebastian Scherer
    tech. report CMU-RI-TR-16-33, Robotics Institute, Carnegie Mellon University, August, 2016
    Details | pdf (3MB) | Copyrighted

  • Kinodynamic Motion Planning on Vector Fields using RRT*

    Guilherme Augusto Silva Pereira , Sanjiban Choudhury , and Sebastian Scherer
    tech. report CMU-RI-TR-16-35, Robotics Institute, Carnegie Mellon University, July, 2016
    Details | pdf (9MB) | Copyrighted

  • A Framework for Optimal Repairing of Vector Field-based Motion Plans

    Guilherme Augusto Silva Pereira , Sanjiban Choudhury , and Sebastian Scherer
    Proceedings of the 2016 International Conference of Unmanned Aircraft Systems (ICUAS), June, 2016, pp. 261-266.
    Details | pdf (4MB) | Copyrighted

  • Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning

    Sanjiban Choudhury , Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha Srinivasa, and Sebastian Scherer
    2016 IEEE International Conference on Robotics and Automation (ICRA), May, 2016.
    Details | pdf (2MB) | Copyrighted

  • Real-time 3D Scene Layout from a Single Image Using Convolutional Neural Networks

    Shichao Yang , Daniel Maturana, and Sebastian Scherer
    International Conference on Robotics and Automation (ICRA) , May, 2016.
    Details | pdf (4MB) | Copyrighted

  • List Prediction Applied To Motion Planning

    Abhijeet Tallavajhula, Sanjiban Choudhury , Sebastian Scherer, and Alonzo Kelly
    2016 IEEE International Conference on Robotics and Automation (ICRA), May, 2016.
    Details | pdf (641KB) | Copyrighted

  • Constrained CHOMP using Dual Projected Newton Method

    Sanjiban Choudhury and Sebastian Scherer
    tech. report CMU-RI-TR-16-17, Robotics Institute, Carnegie Mellon University, May, 2016
    Details | pdf (385KB) | Copyrighted

  • Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments

    Shichao Yang , Yu Song, Michael Kaess, and Sebastian Scherer
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2016.
    Details | pdf (3MB) | Copyrighted

  • VoxNet: A 3D Convolutional Neural Network for Real-Time Object Recognition

    Daniel Maturana and Sebastian Scherer
    IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015.
    Details | pdf (2MB) | Copyrighted

  • Online Safety Verification of Trajectories for Unmanned Flight with Offline Computed Robust Invariant Sets

    Daniel Althoff, Matthias Althoff, and Sebastian Scherer
    IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015.
    Details | pdf (1MB) | Copyrighted

  • Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest

    Sanjiban Choudhury , Sebastian Scherer, and J. Andrew (Drew) Bagnell
    Robotics Science and Systems, July, 2015.
    Details | pdf (1MB) | Copyrighted

  • Robust Autonomous Flight in Constrained and Visually Degraded Environments

    Zheng Fang, Shichao Yang , Sezal Jain, Geetesh Dubey , Silvio Mano Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang, and Stephen T. Nuske
    Field and Service Robotics, June, 2015.
    Details | pdf (4MB) | Copyrighted

  • Learning a Context-Dependent Switching Strategy for Robust Visual Odometry

    Kristen Holtz, Daniel Maturana, and Sebastian Scherer
    Field and Service Robotics, June, 2015.
    Details | pdf (1MB) | Copyrighted

  • The Planner Ensemble: Motion Planning by Executing Diverse Algorithms

    Sanjiban Choudhury , Sankalp Arora, and Sebastian Scherer
    IEEE Conference on Robotics and Automation, May, 2015.
    Details | pdf (3MB) | Copyrighted

  • The Dynamics Projection Filter (DPF) - Real-Time Nonlinear Trajectory Optimization Using Projection Operators

    Sanjiban Choudhury and Sebastian Scherer
    IEEE International Conference on Robotics and Automation, May, 2015.
    Details | pdf (3MB) | Copyrighted

  • Real-time Onboard 6DoF Localization of an Indoor MAV in Degraded Visual Environments Using a RGB-D Camera

    Zheng Fang and Sebastian Scherer
    2015 IEEE International Conference on Robotics and Automation, May, 2015.
    Details | pdf (2MB) | Copyrighted

  • PASP: Policy Based Approach for Sensor Planning

    Sankalp Arora and Sebastian Scherer
    2015 IEEE International Conference on Robotics and Automation, May, 2015.
    Details | pdf (1MB) | Copyrighted

  • Emergency Maneuver Library – Ensuring Safe Navigation in Partially Known Environments

    Sankalp Arora, Sanjiban Choudhury , Daniel Althoff, and Sebastian Scherer
    2015 IEEE International Conference on Robotics and Automation, May, 2015.
    Details | pdf (1MB) | Copyrighted

  • Connected Invariant Sets for High-Speed Motion Planning in Partially-Known Environments

    Daniel Althoff and Sebastian Scherer
    2015 IEEE International Conference on Robotics and Automation, March, 2015.
    Details | pdf (1MB) | Copyrighted

  • 3D Convolutional Neural Networks for Landing Zone Detection from LiDAR

    Daniel Maturana and Sebastian Scherer
    International Conference on Robotics and Automation, March, 2015.
    Details | pdf (5MB) | Copyrighted

  • High-precision Autonomous Flight in Constrained Shipboard Environments

    Shichao Yang , Zheng Fang, Sezal Jain, Geetesh Dubey , Silvio Mano Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang, and Stephen T. Nuske
    tech. report CMU-RI-TR-15-06, Robotics Institute, Carnegie Mellon University, February, 2015
    Details | pdf (22MB) | Copyrighted

  • Multi-Scale Convolutional Architecture for Semantic Segmentation

    Aman Raj , Daniel Maturana, and Sebastian Scherer
    tech. report CMU-RI-TR-15-21, Robotics Institute, Carnegie Mellon University, October, 2015
    Details | pdf (2MB) | Copyrighted

  • Experimental Study of Odometry Estimation Methods using RGB-D Cameras

    Zheng Fang and Sebastian Scherer
    2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , September, 2014.
    Details | pdf (1MB) | Copyrighted

  • Learning Motion Planning Assumptions

    Anirudh Vemula, Sanjiban Choudhury , and Sebastian Scherer
    tech. report CMU-RI-TR-14-14, Robotics Institute, Carnegie Mellon University, August, 2014
    Details | pdf (703KB) | Copyrighted

  • Visual Odometry in Smoke Occluded Environments

    Aditya Agarwal, Daniel Maturana, and Sebastian Scherer
    doctoral dissertation, tech. report CMU-RI-TR-15-07, Robotics Institute, Carnegie Mellon University, July, 2014
    Details | pdf (2MB) | Copyrighted

  • Robust Multi-Sensor Fusion for Micro Aerial Vehicle Navigation in GPS-Degraded/Denied Environments

    Andrew D. Chambers, Sebastian Scherer, Luke Yoder, Sezal Jain, Stephen T. Nuske, and Sanjiv Singh
    In Proceedings of American Control Conference, Portland, OR, June, 2014.
    Details | pdf (2MB) | Copyrighted

  • The Planner Ensemble and Trajectory Executive: A High Performance Motion Planning System with Guaranteed Safety

    Sanjiban Choudhury , Sankalp Arora, and Sebastian Scherer
    AHS 70th Annual Forum, Montre ́al, Que ́bec, Canada, May, 2014.
    Details | pdf (3MB) | Copyrighted

  • A Principled Approach to Enable Safe and High Performance Maneuvers for Autonomous Rotorcraft

    Sankalp Arora, Sanjiban Choudhury , Sebastian Scherer, and Daniel Althoff
    AHS 70th Annual Forum, Montre ́al, Que ́bec, Canada, May 20–22, May, 2014.
    Details | pdf (16MB) | Copyrighted

  • Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles

    Hugh Cover, Sanjiban Choudhury , Sebastian Scherer, and Sanjiv Singh
    International Conference on Robotics and Automation, May, 2013.
    Details | pdf (2MB) | Copyrighted

  • RRT*-AR: Sampling-Based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter

    Sanjiban Choudhury , Sebastian Scherer, and Sanjiv Singh
    International Conference on Robotics and Automation, May, 2013.
    Details | pdf (3MB) | Copyrighted

  • Infrastructure-free Shipdeck Tracking for Autonomous Landing

    Sankalp Arora, Sezal Jain, Sebastian Scherer, Stephen T. Nuske, Lyle J. Chamberlain, and Sanjiv Singh
    International Conference on Robotics and Automation, May, 2013.
    Details | pdf (3MB) | Copyrighted

  • First Results in Detecting and Avoiding Frontal Obstacles from a Monocular Camera for Micro Unmanned Aerial Vehicles

    Tomoyuki Mori and Sebastian Scherer
    International Conference on Robotics and Automation, May, 2013.
    Details | pdf (1MB) | Copyrighted

  • Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time-Constraints

    Sanjiban Choudhury , Sebastian Scherer, and Sanjiv Singh
    AHS Forum 69, May, 2013.
    Details | pdf (7MB) | Copyrighted

  • Autonomous River Exploration

    Sezal Jain, Stephen T. Nuske, Andrew D. Chambers, Luke Yoder, Hugh Cover, Lyle J. Chamberlain, Sebastian Scherer, and Sanjiv Singh
    Field and Service Robotics, Brisbane, December, 2013.
    Details | pdf (5MB) | Copyrighted

  • Autonomous landing at unprepared sites by a full-scale helicopter

    Sebastian Scherer, Lyle J. Chamberlain, and Sanjiv Singh
    Robotics and Autonomous Systems, September, 2012.
    Details | pdf (10MB) | Copyrighted

  • River mapping from a flying robot: state estimation, river detection, and obstacle mapping

    Sebastian Scherer, Joern Rehder, Supreeth Achar, Hugh Cover, Andrew D. Chambers, Stephen T. Nuske, and Sanjiv Singh
    Autonomous Robots, Vol. 32, No. 5, pp. 1 - 26, May, 2012.
    Details | pdf (4MB) | Copyrighted

  • First Results in Autonomous Landing and Obstacle Avoidance by a Full-Scale Helicopter

    Sebastian Scherer, Lyle J. Chamberlain, and Sanjiv Singh
    ICRA, May, 2012.
    Details | pdf (658KB) | Copyrighted

  • Realtime Alternate Routes Planning:The RRT*-AR Algorithm

    Sanjiban Choudhury , Sebastian Scherer, and Sanjiv Singh
    tech. report CMU-RI-TR-12-27, Robotics Institute, Carnegie Mellon University, December, 2012
    Details | pdf (1MB) | Copyrighted

  • Perception for a River Mapping Robot

    Andrew D. Chambers, Supreeth Achar, Stephen T. Nuske, Joern Rehder, Bernd Manfred Kitt, Lyle J. Chamberlain, Justin Haines, Sebastian Scherer, and Sanjiv Singh
    Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011.
    Details | pdf (2MB) | Copyrighted

  • Multiple-Objective Motion Planning for Unmanned Aerial Vehicles

    Sebastian Scherer and Sanjiv Singh
    Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011.
    Details | pdf (626KB) | Copyrighted

  • Navigation and Control for Micro Aerial Vehicles in GPS-Denied Environments

    Rudolph Molero Fernandez, Sebastian Scherer, Lyle J. Chamberlain, and Sanjiv Singh
    tech. report CMU-RI-TR-10-08, Robotics Institute, Carnegie Mellon University, June, 2011
    Details | pdf (2MB) | Copyrighted

  • Self-Supervised Segmentation of River Scenes

    Supreeth Achar, Bharath Sankaran, Stephen T. Nuske, Sebastian Scherer, and Sanjiv Singh
    ICRA 2011, May, 2011.
    Details | pdf (2MB) | Copyrighted

  • Low-Altitude Operation of Unmanned Rotorcraft

    Sebastian Scherer
    doctoral dissertation, tech. report CMU-RI-TR-11-03, Robotics Institute, Carnegie Mellon University, May, 2011
    Details | pdf (9MB) | Copyrighted

  • Self-Aware Helicopters: Full-Scale Automated Landing and Obstacle Avoidance in Unmapped Environments

    Lyle J. Chamberlain, Sebastian Scherer, and Sanjiv Singh
    AHS Forum 67, March, 2011.
    Details | pdf (21MB) | Copyrighted

  • Online Assessment of Landing Sites

    Sebastian Scherer, Lyle J. Chamberlain, and Sanjiv Singh
    AIAA [email protected] 2010 , April, 2010.
    Details | pdf (1MB) | Copyrighted

  • Efficient C-Space and Cost Function Updates in 3D for Unmanned Aerial Vehicles

    Sebastian Scherer, David Ferguson , and Sanjiv Singh
    Proceedings International Conference on Robotics and Automation, May, 2009.
    Details | pdf (311KB) | Copyrighted

  • Flying Fast and Low Among Obstacles: Methodology and Experiments

    Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain, and Mike Elgersma
    The International Journal of Robotics Research, Vol. 27, No. 5, pp. 549-574, May, 2008.
    Details | pdf (1MB) | Copyrighted

  • Learning Obstacle Avoidance Parameters from Operator Behavior

    Bradley Hamner, Sanjiv Singh, and Sebastian Scherer
    Special Issue on Machine Learning Based Robotics in Unstructured Environments, Journal of Field Robotics, Vol. 23, No. 11/12, pp. 1037-1058, December, 2006.
    Details | pdf (2MB) | Copyrighted

  • Model Checking of Robotic Control Systems

    Sebastian Scherer, Flavio Lerda, and Edmund M. Clarke
    Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), September, 2005.
    Details | pdf (2MB) | Copyrighted

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