Carnegie Mellon University

AIR Lab

An intelligent robot lab

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Publications

    Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filming
    Rogerio Bonatti, Zhang Yanfu, Sanjiban Choudhury, Wenshan Wang and Sebastian Scherer

    Conference Paper, International Symposium on Experimental Robotics, November, 2018
    Precision UAV Landing in Unstructured Environments
    Kevin Pluckter and Sebastian Scherer

    Conference Paper, Internation Symposium on Experimental Robotics, November, 2018
    A Unified 3D Mapping Framework using a 3D or 2D LiDAR
    Weikun Zhen and Sebastian Scherer

    Conference Paper, International Symposium on Experimental Robotics, November, 2018
    Integrating kinematics and environment context into deep inverse reinforcement learning for predicting off-road vehicle trajectories
    Zhang Yanfu, Wenshan Wang, Rogerio Bonatti, Daniel Maturana and Sebastian Scherer

    Conference Paper, Conference on Robot Learning, October, 2018
    Decentralized Method for Sub-swarm Deployment and Rejoining
    Meghan Chandarana, Wenhao Luo, Michael Lewis, Katia Sycara and Sebastian Scherer

    Conference Paper, 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), October, 2018
    DROAN – Disparity-space Representation for Obstacle AvoidaNce: Enabling Wire Mapping & Avoidance
    Geetesh Dubey, Ratnesh Madaan and Sebastian Scherer

    Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2018
    Hierarchical registration of unordered TLS point clouds based on binary shape context descriptor
    Zhen Dong, Bisheng Yang, Fuxun Liang, Ronggang Huang and Sebastian Scherer

    Journal Article, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 144, pp. 61-79, October, 2018
    Determining Effective Swarm Sizes for Multi-Job Type Missions
    Meghan Chandarana, Michael Lewis, Katia Sycara and Sebastian Scherer

    Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018, September, 2018
    Swarm Size Planning Tool for Multi-Job Type Missions
    Meghan Chandarana, Michael Lewis, B. Danette Allen, Katia Sycara and Sebastian Scherer

    Conference Paper, AIAA 2018, September, 2018
    State Estimation for Aerial Vehicles Using Multi-Sensor Fusion
    Sebastian Scherer, Stephen Nuske and Yu Song

    Miscellaneous, U.S. Patent Application 15/664,073, July, 2018
    Positioning Error Analysis of Least Squares Method for Wireless Sensor Networks
    Xiangrui Tian, Weikun Zhen and Sebastian Scherer

    Conference Paper, International Symposium on Robotics, June, 2018
    Achieving Robust Localization in Geometrically Degenerated Tunnels
    Weikun Zhen and Sebastian Scherer

    Conference Paper, In Workshop on Challenges and Opportunities for Resilient Collective Intelligence in Subterranean Environments, June, 2018
    CubeSLAM: Monocular 3D Object Detection and SLAM without Prior Models
    Shichao Yang and Sebastian Scherer

    Miscellaneous, arXiv.org, June, 2018
    Path Planning for Unmanned Fixed-Wing Aircraft in Uncertain Wind Conditions Using Trochoids
    Simon Schopferer, Julian Sören Lorenz, Azarakhsh Keipour and Sebastian Scherer

    Conference Paper, International Conference on Unmanned Aircraft Systems (ICUAS 2018), June, 2018
    Hindsight is Only 50/50: Unsuitability of MDP based Approximate POMDP Solvers for Multi- resolution Information Gathering
    Sankalp Arora, Sanjiban Choudhury and Sebastian Scherer

    Miscellaneous, arXiv.org, April, 2018
    An efficient global energy optimization approach for robust 3D plane segmentation of point clouds
    Zhen Dong, Bisheng Yanga, Pingbo Hua and Sebastian Scherer

    Journal Article, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 137, pp. 112-133, March, 2018
    A System Decomposition for Real-time Efficient and Safe Motion Generation for Autonomous Flying Systems
    Sebastian Scherer, Sanjiban Choudhury, Silvio Maeta, Daniel Althoff, Sankalp Arora, Vishal Dugar and Brian MacAllister

    Miscellaneous, Invention Disclosure 2018-007 (Provisional Patent Filed), January, 2018
    Real-Time Semantic Mapping for Autonomous Off-Road Navigation
    Daniel Maturana, Po-Wei Chou, Masashi Uenoyama and Sebastian Scherer

    Book Section/Chapter, In Field and Service Robotics, Springer Proceedings in Advanced Robotics, Vol. 5, pp. 335–350, January, 2018
    Season-Invariant Semantic Segmentation with a Deep Multimodal Network
    Dong-Ki Kim, Daniel Maturana, Masashi Uenoyama and Sebastian Scherer

    Book Section/Chapter, In Field and Service Robotics, Springer Proceedings in Advanced Robotics, Vol. 5, pp. 255 – 270, January, 2018
    Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs
    Sanjiban Choudhury, Shervin Javdani, Siddhartha Srinivasa and Sebastian Scherer

    Conference Paper, 31st Conference on Neural Information Processing Systems, pp. 4634 – 4644, December, 2017
    Bayesian Active Edge Evaluation on Expensive Graphs
    Sanjiban Choudhury, Siddhartha Srinivasa and Sebastian Scherer

    Miscellaneous, arXiv.org, November, 2017
    Data-driven Planning via Imitation Learning
    Sanjiban Choudhury, Mohak Bhardwaj, Sankalp Arora, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer and Debadeepta Dey

    Miscellaneous, arxiv.org, November, 2017
    Learning Heuristic Search via Imitation
    Mohak Bhardwaj, Sanjiban Choudhury and Sebastian Scherer

    Proceedings of the 1st Annual Conference on Robot Learning, Vol. 78, pp. 271-280, October, 2017
    Robust Localization of an Arbitrary Distribution of Radioactive Sources for Aerial Inspection
    Dhruv Shah and Sebastian Scherer

    Miscellaneous, arXiv.org, October, 2017
    DROAN – Disparity-space Representation for Obstacle AvoidaNce
    Geetesh Dubey, Sankalp Arora and Sebastian Scherer

    Conference Paper, Proceedings of 2017 IEEE International Conference on Intelligent Robots and Systems (IROS 2017), September, 2017
    Looking Forward: A Semantic Mapping System for Scouting with Micro-Aerial Vehicles
    Daniel Maturana, Sankalp Arora and Sebastian Scherer

    International Conference on Intelligent Robots and Systems (IROS), pp. 6691 – 6698, September, 2017
    Real-time Semantic Mapping for Autonomous Off-Road Navigation
    Daniel Maturana, Po-Wei Chou, Masashi Uenoyama and Sebastian Scherer

    Conference Paper, Field and Service Robotics (FSR), September, 2017
    Season-Invariant Semantic Segmentation with A Deep Multimodal Network
    Dong-Ki Kim, Daniel Maturana, Masashi Uenoyama and Sebastian Scherer

    Conference Paper, Field and Service Robotics, September, 2017
    Robust Crack Detection in Concrete Structures Images using Multi-Scale Enhancement and Visual Features
    Xiangzeng Liu, Yunfeng Ai and Sebastian Scherer

    Conference Paper, 2017 IEEE International Conference on Image Processing (ICIP 2017), September, 2017
    Wire Detection using Synthetic Data and Dilated Convolutional Networks for Unmanned Aerial Vehicles
    Ratnesh Madaan, Daniel Maturana and Sebastian Scherer

    Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2017
    Semantic 3D Occupancy Mapping through Efficient High Order CRFs
    Shichao Yang, Yulan Huang and Sebastian Scherer

    Conference Paper, IEEE/RSJ International Conference on Robots and Systems, July, 2017
    Improving Stochastic Policy Gradients in Continuous Control with Deep Reinforcement Learning using the Beta Distribution
    Po-Wei Chou, Daniel Maturana and Sebastian Scherer

    Conference Paper, Thirty-fourth International Conference on Machine Learning (ICML), July, 2017
    Learning Heuristic Search via Imitation
    Mohak Bhardwaj, Sanjiban Choudhury and Sebastian Scherer

    Miscellaneous, arXiv.org, July, 2017
    Adaptive Information Gathering via Imitation Learning
    Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer and Debadeepta Dey

    Conference Paper, Proceedings of Robotics: Science and Systems (RSS 2017), July, 2017
    Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs
    Sanjiban Choudhury, Shervin Javdani, Siddhartha Srinivasa and Sebastian Scherer

    Miscellaneous, arXiv.org, June, 2017
    Adaptive Information Gathering via Imitation Learning
    Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer, and Debadeepta Dey

    Miscellaneous, arXiv.org, May, 2017
    Direct Monocular Odometry Using Points and Lines
    Shichao Yang and Sebastian Scherer

    Conference Paper, IEEE International Conference on Robotics and Automation ICRA, May, 2017
    Randomized Algorithm for Informative Path Planning with Budget Constraints
    Sankalp Arora and Sebastian Scherer

    Conference Paper, International Conference on Robotics and Automation (ICRA), June, 2017, May, 2017
    Robust Localization and Localizability Estimation with a Rotating Laser Scanner
    Weikun Zhen, Sam Zeng and Sebastian Scherer

    Conference Paper, IEEE International Conference on Robotics and Automation 2017, May, 2017
    Obstacle Avoidance through Deep Networks based Intermediate Perception
    Shichao Yang, Sandeep Konam, Chen Ma, Stephanie Rosenthal, Manuela Veloso and Sebastian Scherer

    Miscellaneous, arXiv.org, April, 2017
    Direct Monocular Odometry Using Points and Lines
    Shichao Yang and Sebastian Scherer

    Miscellaneous, arXiv.org, March, 2017
    Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
    Shichao Yang, Yu Song, Michael Kaess and Sebastian Scherer

    Miscellaneous, arXiv.org, March, 2017
    Smooth Trajectory Optimization in Wind: First Results on a Full-Scale Helicopter
    Vishal Dugar, Sanjiban Choudhury and Sebastian Scherer

    Conference Paper, AHS Forum, Vol 73, 2017, March, 2017
    A KITE in the Wind: Smooth Trajectory Optimization in a Moving Reference Frame
    Vishal Dugar, Sanjiban Choudhury and Sebastian Scherer

    Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), February, 2017
    A Guaranteed Safe Method for Obstacle Avoidance based on Disparity and Depth Images
    Sankalp Arora, Geetesh Dubey and Sebastian Scherer

    Miscellaneous, Invention Disclosure 2017-024 (Provisional Patent Filed), January, 2017
    A method for creating semantic maps from monocular camera imagery
    Sankalp Arora, Daniel Maturana and Sebastian Scherer

    Miscellaneous, Invention Disclosure 2017-140, January, 2017
    A Multi-Sensor Fusion System for State Estimation from Visual, IMU, GPS, and Barometric Sensors
    Stephen Nuske, Sebastian Scherer and Yu Song

    Miscellaneous, Invention Disclosure 2017-009 (Provisional Patent Filed and converted to patent application), January, 2017
    A system to create semantic maps using aerial imagery
    Sankalp Arora, Geetesh Dubey, Daniel Maturana and Sebastian Scherer

    Miscellaneous, Invention Disclosure 2017-141, January, 2017
    Car Detection using Monocular Images for Aerial Applications
    Daniel Maturana and Sebastian Scherer

    Miscellaneous, Invention Disclosure 2017-069, January, 2017
    Contingency Landing Site Map
    Sebastian Scherer and Kyle Strabala

    Miscellaneous, Invention Disclosure 2017-116 (Provisional Patent Filed), January, 2017
    Contingency Planning Algorithms for Unmanned Aircraft
    Mohak Bhardwaj and Sebastian Scherer

    Miscellaneous, Invention Disclosure 2017-101 (Provisional Patent Filed), January, 2017
    Reliable Localization and Localizability Prediction in Indoor Environments using a Rotating Lidar Scanner
    Sebastian Scherer, Sam Zeng and Weikun Zhen

    Miscellaneous, Invention Disclosure 2017-026 (Provisional Patent Filed), January, 2017
    Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments
    Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Stephan Roth, Silvio Mano Maeta, Stephen T. Nuske, Yuzhang Wu and Sebastian Scherer

    Journal Article, Journal of Field Robotics, Vol. 34, No. 1, pp. 25–52, January, 2017
    Semantic Monocular Plane SLAM for Low-Texture Structured Environments
    Michael Kaess, Daniel Maturana, Sebastian Scherer and Shichao Yang

    Miscellaneous, Invention Disclosure 2017-065, January, 2017
    A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors
    Yu Song, Stephen T. Nuske and Sebastian Scherer

    Journal Article, Sensors, Vol. 17, No. 11, December, 2016
    Detecting cars in aerial photographs with a hierarchy of deconvolution nets
    Satyaki Chakraborty, Daniel Maturana and Sebastian Scherer

    Tech. Report, CMU-RI-TR-16-60, Robotics Institute, Carnegie Mellon University, November, 2016
    Nonholonomic motion planning in partially unknown environments using vector fields and optimal planners
    Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

    Conference Paper, Congresso Brasileiro de Automatica (CBA), October, 2016
    Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
    Shichao Yang, Yu Song, Michael Kaess and Sebastian Scherer

    Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1222 – 1229, October, 2016
    Modeling and Control of Coaxial UAV with Swashplate Controlled Lower Propeller
    Richard Lee, Koushil Sreenath and Sebastian Scherer

    Tech. Report, CMU-RI-TR-16-52, Robotics Institute, Carnegie Mellon University, August, 2016
    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
    A Framework for Optimal Repairing of Vector Field-based Motion Plans
    Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

    Conference Paper, Proceedings of the 2016 International Conference of Unmanned Aircraft Systems (ICUAS), pp. 261-266, June, 2016
    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
    List Prediction Applied To Motion Planning
    Abhijeet Tallavajhula, Sanjiban Choudhury, Sebastian Scherer and Alonzo Kelly

    Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 213 – 220, May, 2016
    Real-time 3D Scene Layout from a Single Image Using Convolutional Neural Networks
    Shichao Yang, Daniel Maturana and Sebastian Scherer

    Conference Paper, International Conference on Robotics and Automation (ICRA), pp. 2183 – 2189, May, 2016
    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

    Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 4207 – 4214, May, 2016
    A Direct Method for Obstacle Avoidance based on Disparity and Depth Images
    Geetesh Dubey and Sebastian Scherer

    Miscellaneous, Invention Disclosure 2016-220, January, 2016
    A shipboard localization and motion planning system
    Sebastian Scherer and Shichao Yang

    Miscellaneous, Invention Disclosure 2016-153, January, 2016
    Motion Planning to Enable Safe and Fast Flight of Autonomous Helicopters
    Sankalp Arora, Sanjiban Choudhury and Sebastian Scherer

    Miscellaneous, Invention Disclosure 2016-090, January, 2016
    Recognition of Human Group Activity for Video Analytics
    Jaeyong Ju, Cheoljong Yang, Sebastian Scherer and Hanseok Ko

    Book Section/Chapter, Advances in Multimedia Information Processing – PCM, Vol. 9315, pp. 161 - 169, December, 2015
    Mixed-Initiative Control of a Roadable Air Vehicle for Non-Pilots
    Michael C. Dorneich, Emmanuel Letsu-Dake, Sanjiv Singh, Sebastian Scherer, Lyle J. Chamberlain and Marcel Bergerman

    Journal Article, Journal of Human-Robot Interaction, Vol. 4, No. 3, pp. 38-61, December, 2015
    Autonomous Semantic Exploration Using Unmanned Aerial Vehicles
    Sankalp Arora, Geetesh Dubey, Sezal Jain, Daniel Maturana, Song Yu, Stephen Nuske and Sebastian Scherer

    Conference Paper, In Workshop on Vision-based Control and Navigation of Small, Lightweight UAVs, October, 2015
    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, pp. 14, October, 2015
    Online Safety Verification of Trajectories for Unmanned Flight with Offline Computed Robust Invariant Sets
    Daniel Althoff, Matthias Althoff and Sebastian Scherer

    Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3470 – 3477, September, 2015
    Recognition of Human Group Activity for Video Analytics
    Jaeyong Ju, Cheoljong Yang, Sebastian Scherer and Hanseok Ko

    Conference Paper, Advances in Multimedia Information Processing, pp. 735, September, 2015
    VoxNet: A 3D Convolutional Neural Network for Real-Time Object Recognition
    Daniel Maturana and Sebastian Scherer

    Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 922 – 928, September, 2015
    Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest
    Sanjiban Choudhury, Sebastian Scherer and J. Andrew (Drew) Bagnell

    Conference Paper, Robotics Science and Systems, July, 2015
    Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers
    Stephen T. Nuske, Sanjiban Choudhury, Sezal Jain, Andrew D. Chambers, Luke Yoder, Sebastian Scherer, Lyle J. Chamberlain, Hugh Cover and Sanjiv Singh

    Journal Article, Journal of Field Robotics, Vol. 32, pp. 1141 – 1162, June, 2015
    Autonomous Exploration for Infrastructure Modeling with a Micro Aerial Vehicle
    Luke Yoder and Sebastian Scherer

    Conference Paper, Field and Service Robotics, June, 2015
    Learning a Context-Dependent Switching Strategy for Robust Visual Odometry
    Kristen Holtz, Daniel Maturana and Sebastian Scherer

    Conference Paper, Field and Service Robotics, June, 2015
    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

    Conference Paper, Field and Service Robotics, June, 2015
    Emergency Maneuver Library – Ensuring Safe Navigation in Partially Known Environments
    Sankalp Arora, Sanjiban Choudhury, Daniel Althoff and Sebastian Scherer

    Conference Paper, 2015 IEEE International Conference on Robotics and Automation, pp. 6431 – 6438, May, 2015
    PASP: Policy Based Approach for Sensor Planning
    Sankalp Arora and Sebastian Scherer

    Conference Paper, 2015 IEEE International Conference on Robotics and Automation, pp. 3479 – 3486, May, 2015
    Real-time Onboard 6DoF Localization of an Indoor MAV in Degraded Visual Environments Using a RGB-D Camera
    Zheng Fang and Sebastian Scherer

    Conference Paper, 2015 IEEE International Conference on Robotics and Automation, pp. 5253 – 5259, May, 2015
    The Dynamics Projection Filter (DPF) – Real-Time Nonlinear Trajectory Optimization Using Projection Operators
    Sanjiban Choudhury and Sebastian Scherer

    Conference Paper, IEEE International Conference on Robotics and Automation, pp. 644 – 649, May, 2015
    The Planner Ensemble: Motion Planning by Executing Diverse Algorithms
    Sanjiban Choudhury, Sankalp Arora and Sebastian Scherer

    Conference Paper, IEEE Conference on Robotics and Automation, pp. 2389 – 2395, May, 2015
    3D Convolutional Neural Networks for Landing Zone Detection from LiDAR
    Daniel Maturana and Sebastian Scherer

    Conference Paper, International Conference on Robotics and Automation, pp. 3471 – 3478, March, 2015
    Connected Invariant Sets for High-Speed Motion Planning in Partially-Known Environments
    Daniel Althoff and Sebastian Scherer

    Conference Paper, 2015 IEEE International Conference on Robotics and Automation, pp. 3279 – 3285, March, 2015
    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
    Software and method to classify point cloud data for real-time semantic labeling
    Daniel Maturana and Sebastian Scherer

    Miscellaneous, Invention Disclosure 2015-131, January, 2015
    Experimental Study of Odometry Estimation Methods using RGB-D Cameras
    Zheng Fang and Sebastian Scherer

    Conference Paper, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2014
    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
    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

    Conference Paper, In Proceedings of American Control Conference, Portland, OR, June, 2014
    A Principled Approach to Enable Safe and High Performance Maneuvers for Autonomous Rotorcraft
    Sankalp Arora, Sanjiban Choudhury, Sebastian Scherer and Daniel Althoff

    Conference Paper, AHS 70th Annual Forum, Montre ́al, Que ́bec, Canada, May 20-22, May, 2014
    The Planner Ensemble and Trajectory Executive: A High Performance Motion Planning System with Guaranteed Safety
    Sanjiban Choudhury, Sankalp Arora and Sebastian Scherer

    Conference Paper, AHS 70th Annual Forum, Montre ́al, Que ́bec, Canada, May, 2014
    Autonomous River Exploration
    Sezal Jain, Stephen T. Nuske, Andrew D. Chambers, Luke Yoder, Hugh Cover, Lyle J. Chamberlain, Sebastian Scherer and Sanjiv Singh

    Conference Paper, Field and Service Robotics, Brisbane, December, 2013
    Robocopters to the rescue
    Lyle Chamberlain and Sebastian Scherer

    Magazine Article, IEEE Spectrum, Vol. 50, No. 10, pp. 28 – 33, October, 2013
    Robocopters to the Rescue
    Lyle Chamberlain and Sebastian Scherer

    Magazine Article, Carnegie Mellon University, September, 2013
    Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time-Constraints
    Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

    Conference Paper, AHS Forum 69, May, 2013
    First Results in Detecting and Avoiding Frontal Obstacles from a Monocular Camera for Micro Unmanned Aerial Vehicles
    Tomoyuki Mori and Sebastian Scherer

    Conference Paper, International Conference on Robotics and Automation, pp. 1750 – 1757, May, 2013
    Infrastructure-free Shipdeck Tracking for Autonomous Landing
    Sankalp Arora, Sezal Jain, Sebastian Scherer, Stephen T. Nuske, Lyle J. Chamberlain and Sanjiv Singh

    Conference Paper, International Conference on Robotics and Automation, pp. 323 – 330, May, 2013
    RRT*-AR: Sampling-Based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter
    Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

    Conference Paper, International Conference on Robotics and Automation, pp. 3947 - 3952, May, 2013
    Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles
    Hugh Cover, Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

    Conference Paper, International Conference on Robotics and Automation, pp. 2820 – 2825, May, 2013
    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
    Autonomous landing at unprepared sites by a full-scale helicopter
    Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

    Journal Article, Robotics and Autonomous Systems, Vol. 60, No. 12, pp. 1545 – 1562, September, 2012
    First Results in Autonomous Landing and Obstacle Avoidance by a Full-Scale Helicopter
    Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

    Conference Paper, ICRA, pp. 951 – 956, May, 2012
    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

    Journal Article, Autonomous Robots, Vol. 32, No. 5, pp. 189 – 214, May, 2012
    Multiple-Objective Motion Planning for Unmanned Aerial Vehicles
    Sebastian Scherer and Sanjiv Singh

    Conference Paper, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), pp. 2207 – 2214, September, 2011
    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

    Conference Paper, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), pp. 227 – 234, September, 2011
    Perception for a River Mapping Robot
    Andrew Chambers, Supreeth Achar, Stephen Nuske, Joern Rehder, Bernd Kitt, Lyle Chamberlain, Justin Haines, Sebastian Scherer and Sanjiv Singh

    Conference Paper, In Workshop on 3D Exploration, Mapping, and Surveillance with Aerial Robots, RSS 2011, June, 2011
    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
    Low-Altitude Operation of Unmanned Rotorcraft
    Sebastian Scherer

    PhD Thesis, Tech. Report, CMU-RI-TR-11-03, Robotics Institute, Carnegie Mellon University, May, 2011
    Self-Supervised Segmentation of River Scenes
    Supreeth Achar, Bharath Sankaran, Stephen T. Nuske, Sebastian Scherer and Sanjiv Singh

    Conference Paper, ICRA 2011, pp. 6227 – 6232, May, 2011
    Self-Aware Helicopters: Full-Scale Automated Landing and Obstacle Avoidance in Unmapped Environments
    Lyle J. Chamberlain, Sebastian Scherer and Sanjiv Singh

    Conference Paper, AHS Forum 67, March, 2011
    Autonomous Landing Zone Identification and Approach Planning for Rotorcraft
    Sebastian Scherer and Sanjiv Singh

    Miscellaneous, Invention Disclosure 2011-010, January, 2011
    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, June, 2010
    Online Assessment of Landing Sites
    Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

    Conference Paper, AIAA [email protected] 2010, April, 2010
    Efficient C-Space and Cost Function Updates in 3D for Unmanned Aerial Vehicles
    Sebastian Scherer, David Ferguson and Sanjiv Singh

    Conference Paper, Proceedings International Conference on Robotics and Automation, pp. 2049 – 2054, May, 2009
    Autonomous Route Finding and Collision Avoidance in 3D for flying rotorcraft
    Sebastian Scherer and Sanjiv Singh

    Miscellaneous, Invention Disclosure 2009-046, January, 2009
    Flying Fast and Low Among Obstacles: Methodology and Experiments
    Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Mike Elgersma

    Journal Article, The International Journal of Robotics Research, Vol. 27, No. 5, pp. 549-574, May, 2008
    Flying Fast and Low Among Obstacles
    Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Srikanth Saripalli

    Conference Paper, Proceedings International Conference on Robotics and Automation, pp. 2023 – 2029, April, 2007
    Tartan Racing: A Multi-Modal Approach to the DARPA Urban Challenge
    Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Alonzo Kelly, David Kohanbash, Maxim Likhachev, Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz, William (Red) L. Whittaker and Jason Ziglar

    Tech. Report, Robotics Institute, Carnegie Mellon University, DARPA Grand Challenge Tech Report, April, 2007
    Learning Obstacle Avoidance Parameters from Operator Behavior
    Bradley Hamner, Sanjiv Singh and Sebastian Scherer

    Journal Article, Special Issue on Machine Learning Based Robotics in Unstructured Environments, Journal of Field Robotics, Vol. 23, No. 12, pp. 1037-1058, December, 2006
    Learning to Drive Among Obstacles
    Bradley Hamner, Sebastian Scherer and Sanjiv Singh

    Conference Paper, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2663 - 2669, October, 2006
    Model Checking of Robotic Control Systems
    Sebastian Scherer, Flavio Lerda and Edmund M. Clarke

    Conference Paper, Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), September, 2005
    Learning to Drive Among Obstacles
    Bradley Hamner, Sebastian Scherer and Sanjiv Singh

    Conference Paper, In NIPS Workshop on Machine Learning Based Robotics in Unstructured Environments, June, 2005
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  • Field Robotics Center
  • The Robotics Institute
  • School of Computer Science
  • Carnegie Mellon University