Research

Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Circular Decomposition

This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors ...

DARPA TRIAGE CHALLENGE

What is the DARPA Triage Challenge?As stated on the DARPA Triage page: The DARPA Triage Challeng...

Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles using Dubins Set Classification

We present a method to quickly find the time-optimal, curvature-constrained path between two stat...

Image Sharing

The image sharing library allows a user to transfer images between processes on an Nvidia Jetson ...

Geometry-Informed Distance Candidate Selection for Omnidirectional Stereo Vision

This is the project page of the ICRA submission, “Geometry-Informed Distance Candidate Se...

Off-road driving by learning from interaction and demonstration

Off-road driving is an important robotics task with applications in agriculture, mining, explorat...

Autonomous UAV-based Multi-Model High-Resolution Reconstruction for Aging Bridge Inspection (new)

During a 4-year research collaboration with an international corporation in civil engineering (Sh...

Wildland Fire Safety Monitoring

The dangers of wildfire continues to grow due to climate change. Mere minutes can turn a previous...

How do you train AI Pilots?

We need more pilots. AI can help! Advanced Aerial Mobility (AAM) is an inclusive term that covers...

Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure

Enabling vertical take-off and landing while providing the ability to fly long ranges opens the d...

SubT UAV Code Release

This is the code accompanying the paper Resilient Multi-Sensor Exploration of Multifarious Enviro...

TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning

Informative path planning is an important and challenging problem in robotics that remains to be ...

AirObject: A Temporally Evolving Graph Embedding for Object Identification

Video Object Identification

Air Series Articles Released

Air Series is a collection of articles mentored by Chen Wang.

3D Human Reconstruction with Collaborative Aerial Cameras

Aerial vehicles are revolutionizing applications that require capturing the 3D structure of dynam...

Lifelong Graph Learning

Graph neural networks (GNNs) are powerful models for many graph-structured tasks. Existing models...

AirDOS: Dynamic SLAM benefits from Articulated Objects

Dynamic Object-aware SLAM (DOS) exploitsobject-level information to enable robust motion estimati...

AirCode: A Robust Object Encoding Method

Object encoding and identification is crucial for many robotic tasks such as autonomous explorati...

AirLoop: Lifelong loop closure detection

After deployment to the wild, the robot may benefit if it can incrementally learn from the workin...

XPlaneROS : ROS Wrapper for Autonomous Fixed Wing Applications

Today, manned and unmanned vehicles are separated, limiting the utility and flexibility ofoperati...

i3dLoc: Image-to-range Cross-domain Localization

We present a method for localizing a single camera with respect to a point cloud map in indoor an...

Unified line segment detection and line based 2D-3D registration/localization

The 2D to 3D registration problem is to match a query image with a 3D model to establish the geom...

Increasing Energy Productivity of First/Last Mile Goods Movement

The objective of this Department of Energy funded project is to use empirical testing, life cycle...

Fully-Actuated UAVs: Control, Analysis and Applications

The introduction of fully-actuated multirotors has opened the door to new possibilities and more ...

ORStereo: Occlusion-Aware Recurrent Stereo Matching for 4K-Resolution Images

This is the project page of the IROS submission “ORStereo: Occlusion-Aware Recurrent Stereo Match...

TartanVO: A Generalizable Learning-based VO

Visual odometry remains a challenging problem in real-world applications. Geometric-based methods...

Autonomous UAV Landing on a Moving Vehicle and Real-Time Ellipse Detection

The autonomous landing of an Unmanned Aerial Vehicle (UAV) on moving platforms has been an active...

Long-range Aircraft Detection and Tracking

The detect-and-avoid problem is the “holy grail” for small aircrafts and drones that need to fly ...

Exploiting Physical Interactions to Increase the Understanding of Dynamics and Environment Properties for Enhanced Autonomy

The mobility of autonomous robots is still limited especially in real-world offroad terrain (as s...

Real-time Fault Detection for Autonomous Aerial Vehicles

The recent increase in the use of aerial vehicles raises concerns about the safety and reliabilit...

Unsupervised Online Learning for Visual Interestingness

The problem of visual interestingness detection, which is crucial for many practical applications...

Semantic & Dynamic SLAM

We developed a method for real-time semantic understanding and 3D mapping in both static and dyna...

MBZIRC 2020: Team Tartans

The Mohamed Bin Zayed International Robotics Competition seeks to exhibit the current state-of-th...

Autonomous Aerial Cinematography

Aerial cinematography is revolutionizing industries that require live and dynamic camera viewpoin...

Autonomous UAV-based Multi-Model High-Resolution Reconstruction for Aging Bridge Inspection

The conventional way of aging infrastructure (e.g. bridges and tunnels) inspection can be time-co...

SubT Challenge

What is the Subterranean (SubT) Challenge?As stated on the DARPA SubT page: The DARPA Subterrane...

Smart Landing and Obstacle Avoidance

Below are various projects that allow a drone to fly and land safely in challenging environments.

Open Source Planning Packages

Over the years our lab our lab has created various open-source planning packages. This list is by...

Real-time 3D Scene Layout from Images

In this project, we study the problem of understanding the 3D scene layout from images and combin...