Search Results - "Thakker, Rohan"

Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration by Sasaki, Takahiro, Otsu, Kyohei, Thakker, Rohan, Haesaert, Sofie, Agha-mohammadi, Ali-akbar

“…In addition to conventional ground rovers, the Mars 2020 mission will send a helicopter to Mars. The copter's highresolution data helps the rover to identify…”
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EELS-DARTS: A Planetary Snake Robot Simulator for Closed-Loop Autonomy Development by Hasseler, Tristan D., Leake, Carl, Gaut, Aaron, Elmquist, Asher, Swan, Robert Michael, Royce, Rob, Jones, Bryson, Hockman, Ben, Paton, Michael, Daddi, Guglielmo, Ono, Masahiro, Thakker, Rohan, Jain, Abhinandan

“…EELS-DARTS is a simulator designed for autonomy development and analysis of large degree of freedom snake-like robots for space exploration. A detailed…”
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Empirically derived Coloured Dissolved Organic Matter absorption coefficient using in-situ and Sentinel 3/OLCI in coastal waters of India by Sahay, Arvind, Ali, Syed Moosa, Raman, Mini, Gupta, Anurag, Motwani, Gunjan, Thakker, Rohan, Tirkey, Anima, Solanki, Hitesh A., Shanmugam, Palanisamy

“…Chromophoric Dissolved Organic Matter (CDOM) is the fraction of dissolved organic matter that absorbs sun light in ultra-violet and visible region of the…”
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Thermal-Inertial Odometry for Autonomous Flight Throughout the Night by Delaune, Jeff, Hewitt, Robert, Lytle, Laura, Sorice, Cristina, Thakker, Rohan, Matthies, Larry

“…Thermal cameras can enable autonomous flight at night without GPS. However, image-based navigation in the thermal infrared spectrum has been researched…”
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Principled ICP Covariance Modelling in Perceptually Degraded Environments for the EELS Mission Concept by Talbot, William, Nash, Jeremy, Paton, Michael, Ambrose, Eric, Metz, Brandon, Thakker, Rohan, Etheredge, Rachel, Ono, Masahiro, Ila, Viorela

“…The Exobiology Extant Life Surveyor (EELS) is a snake-like mobile instruments platform under development at Jet Propulsion Laboratory (JPL) for a mission…”
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Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments by Fan, David D., Thakker, Rohan, Bartlett, Tara, Miled, Meriem Ben, Kim, Leon, Theodorou, Evangelos, Agha-mohammadi, Ali-akbar

“…Hybrid ground and aerial vehicles can possess distinct advantages over ground-only or flight-only designs in terms of energy savings and increased mobility. In…”
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Bi-Directional Value Learning for Risk-Aware Planning Under Uncertainty by Sung-Kyun Kim, Thakker, Rohan, Agha-Mohammadi, Ali-Akbar

“…Decision-making under uncertainty is a crucial ability for autonomous systems. In its most general form, this problem can be formulated as a partially…”
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Comparison of Trajectory Optimization Algorithms for High-Speed Quadrotor Flight Near Obstacles by Morrell, Benjamin, Thakker, Rohan, Merewether, Gene, Reid, Robert, Rigter, Marc, Tzanetos, Theodore, Chamitoff, Gregory

“…For autonomous quadrotors to be used for applications such as delivery, disaster response, and inspection, there is a need to fly near obstacles, especially in…”
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Supervised Autonomy for Communication-degraded Subterranean Exploration by a Robot Team by Otsu, Kyohei, Tepsuporn, Scott, Thakker, Rohan, Vaquero, Tiago Stegun, Edlund, Jeffrey A., Walsh, William, Miles, Gregory, Heywood, Tristan, Wolf, Michael T., Agha-Mohammadi, Ali-Akbar

“…The importance of autonomy in robotics is magnified when the robots need to be deployed and operated in areas that are too dangerous or not accessible for…”
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Demonstration of Autonomous Sampling Techniques in an Icy Moon Terrestrial Analog by Bowkett, Joseph, Kim, David Inkyu, Nash, Jeremy, Moreno, Daniel Pastor, Gildner, Matt, Thakker, Rohan, Wehage, Kris, Kim, Sung-Kyun, Brinkman, Alex, Emanuel, Blair, Edlund, Jeffrey, Ridge, Barry, Jain, Abhi, Backes, Paul

“…A collection of functional autonomy behaviors to allow unsupervised science sample selection and collection on Icy Moons such as Europa or Enceladus was…”
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Functional Autonomy Challenges in Sampling for an Europa Lander Mission by Bowkett, Joseph, Nash, Jeremy, Kim, David Inkyu, Kim, Sung-Kyun, Thakker, Rohan, Brinkman, Alex, Cheng, Yang, Willson, Reg, Lim, Chris, Gaut, Aaron, Jain, Abhinandan, Gildner, Matt, Emanuel, Blair, Backes, Paul

“…We present a baseline approach to Functional Autonomy for the purpose of conducting excavation and sampling behaviors in a proposed Europa Lander mission…”
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ReBiS - Reconfigurable Bipedal Snake robot by Thakker, Rohan, Kamat, Ajinkya, Bharambe, Sachin, Chiddarwar, Shital, Bhurchandi, K. M.

“…Robots capable of switching between snake-like and bipedal motion have advantages of greater manoeuvrability. This paper introduces ReBiS (Reconfigurable…”
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EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures by Thakker, Rohan, Paton, Michael, Strub, Marlin P., Swan, Michael, Daddi, Guglielmo, Royce, Rob, Tosi, Phillipe, Gildner, Matthew, Vaquero, Tiago, Veismann, Marcel, Gavrilov, Peter, Marteau, Eloise, Bowkett, Joseph, Loret, Daniel, Nakka, Yashwanth, Hockman, Benjamin, Orekhov, Andrew, Hasseler, Tristan, Leake, Carl, Nuernberger, Benjamin, Proenca, Pedro, Reid, William, Talbot, William, Georgiev, Nikola, Pailevanian, Torkom, Archanian, Avak, Ambrose, Eric, Jasper, Jay, Etheredge, Rachel, Roman, Christiahn, Levine, Dan, Otsu, Kyohei, Melikyan, Hovhannes, Nash, Jeremy, Rieber, Richard, Carpenter, Kalind, Jain, Abhinandan, Shiraishi, Lori, Pastor, Daniel, Yearicks, Sarah, Ingham, Michel, Robinson, Matthew, Agha, Ali, Travers, Matthew, Choset, Howie, Burdick, Joel, Ono, Masahiro

“…The discovery of ocean worlds such as Enceladus, Titan, and Europa motivates the development of versatile autonomous mobility systems to enable the next era of…”
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2023 EELS Field Tests at Athabasca Glacier as an Icy Moon Analogue Environment by Paton, Michael, Rieber, Richard, Cruz, Sarah, Gildner, Matt, Abma, Chantelle, Abma, Kevin, Aghli, Sina, Ambrose, Eric, Archanian, Avak, Bagshaw, Elizabeth A., Baroco, Cathy, Blackstock, Andrew, Bowkett, Joseph, Cable, Morgan L., Cartaya, Eduardo, Daddi, Guglielmo, Drevinskas, Tomas, Etheredge, Rachel, Gall, Tom, Gardner, Alex S., Gavrilov, Peter, Georgiev, Nikola, Graham, Katie, Hockman, Benjamin, Jones, Bryson, Linn, Scott, Malaska, Michael J., Marteau, Eloise, Maslen, Nick, Melikyan, Hovhannes, Nakka, Yashwanth Kumar, Nelson, Jason, Pazzini, Michele, Peticco, Martin, Prior-Jones, Michael, Robinson, Matthew, Roman, Christiahn, Royce, Rob, Ryan, Mary, Shiraishi, Lori, Stenner, Christian, Strub, Marlin, Swan, Robert Michael, Swerdlow, Ben, Thakker, Rohan, Tosi, Luis Phillipe, Tran, Tony, Vaquero, Tiago Stegun, Veismann, Marcel, Wood, Tom, Zade, Harshad, Ono, Masahiro

“…JPL is developing a versatile and highly intelligent Exobiology Extant Life Surveyor (EELS) robot that would enable access to subsurface oceans and…”
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Bayesian Learning-Based Adaptive Control for Safety Critical Systems by Fan, David D., Nguyen, Jennifer, Thakker, Rohan, Alatur, Nikhilesh, Agha-mohammadi, Ali-akbar, Theodorou, Evangelos A.

“…Deep learning has enjoyed much recent success, and applying state-of-the-art model learning methods to controls is an exciting prospect. However, there is a…”
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Enabling Novel Mission Operations and Interactions with ROSA: The Robot Operating System Agent by Royce, Rob, Kaufmann, Marcel, Becktor, Jonathan, Moon, Sangwoo, Carpenter, Kalind, Pak, Kai, Towler, Amanda, Thakker, Rohan, Khattak, Shehryar

“…The advancement of robotic systems has revolutionized numerous industries, yet their operation often demands specialized technical knowledge, limiting…”
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Differential Flatness Transformations for Aggressive Quadrotor Flight by Morrell, Benjamin, Rigter, Marc, Merewether, Gene, Reid, Robert, Thakker, Rohan, Tzanetos, Theodore, Rajur, Vinay, Chamitoff, Gregory

“…Aggressive maneuvering amongst obstacles could enable advanced capabilities for quadrotors in applications such as search and rescue, surveillance, inspection,…”
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Onboard Stereo Vision for Drone Pursuit or Sense and Avoid by Cigla, Cevahir, Thakker, Rohan, Matthies, Larry

“…We describe a new, on-board, short range perception system that enables micro aerial vehicles (MAVs) to detect, track, and follow or avoid nearby drones…”
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Generalizing Informed Sampling for Asymptotically-Optimal Sampling-Based Kinodynamic Planning via Markov Chain Monte Carlo by Yi, Daqing, Thakker, Rohan, Gulino, Cole, Salzman, Oren, Srinivasa, Siddhartha

“…Asymptotically-optimal motion planners such as RRT* have been shown to incrementally approximate the shortest path between start and goal states. Once an…”
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Sim-to-Real via Sim-to-Seg: End-to-end Off-road Autonomous Driving Without Real Data by So, John, Xie, Amber, Jung, Sunggoo, Edlund, Jeffrey, Thakker, Rohan, Agha-mohammadi, Ali, Abbeel, Pieter, James, Stephen

“…Autonomous driving is complex, requiring sophisticated 3D scene understanding, localization, mapping, and control. Rather than explicitly modelling and fusing…”
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