Projects
Unified Autonomy Stack
An autonomy stack for diverse robot platforms in GPS-denied environments.
Tightly-Coupled Radar-Visual-Inertial Odometry
A method for lightweight, robust odometry across diverse environments.
Robust High-Speed State Estimation for Off-Road Navigation Using Radar Velocity Factors
Radar-enhanced state estimation for high-speed off-road navigation.
Morphy: A Compliant and Morphologically Aware Flying Robot
A compliant and morphologically-aware flying robot.
UniPilot: Enabling GPS-Denied Autonomy Across Embodiments
Autonomy-enabling module for diverse robot platforms.
IMU-Preintegrated Radar Factors for Asynchronous Radar-LiDAR-Inertial SLAM
Improving the efficiency of multi-sensor fusion.
Degradation Resilient LiDAR-Radar-Inertial Odometry
LiDAR-radar-inertial fusion for robust odometry in degraded environments.
Embedded Safe Reactive Navigation for Multirotors Systems Using Control Barrier Functions
Embedded safety filter for obstacle avoidance in autonomous aerial robots.
Design, Modeling, Control and Experimental Evaluation of Flexy: A Novel Compliant Quadrotor
Compliant quadrotor with elastic joints for collision-tolerance and morphing.
ROAMER: Robust Offroad Autonomy Using Multimodal State Estimation with Radar Velocity Integration
Multimodal state estimation for robust off-road navigation.
Simultaneous Triggering and Synchronization of Sensors and Onboard Computers
Low-cost sensor synchronization and timestamping system.
Analysing Cyber-resiliency of a Marine Navigation System Using Behavioural Relations
Analyzing the detection potential for faults in marine vessel navigation data.