no code implementations • 11 Jan 2023 • Abhishek Cauligi, R. Michael Swan, Hiro Ono, Shreyansh Daftry, John Elliott, Larry Matthies, Deegan Atha
This GITL operation limits the distance that can be driven in a day to a few hundred meters, which is the distance that the rover can maintain acceptable localization error via relative methods.
no code implementations • 3 Jan 2023 • Shreyansh Daftry, Zhanlin Chen, Yang Cheng, Scott Tepsuporn, Brian Coltin, Ussama Naam, Lanssie Mingyue Ma, Shehryar Khattak, Matthew Deans, Larry Matthies
In previous work, we developed crater detection algorithms for three different sensing modalities.
no code implementations • 18 Mar 2022 • Larry Matthies, Shreyansh Daftry, Scott Tepsuporn, Yang Cheng, Deegan Atha, R. Michael Swan, Sanjna Ravichandar, Masahiro Ono
At the end of each drive, a ground-in-the-loop (GITL) interaction is used to get a position update from human operators in a more global reference frame, by matching images or local maps from onboard the rover to orbital reconnaissance images or maps of a large region around the rover's current position.
no code implementations • 9 Mar 2022 • Shreyansh Daftry, Neil Abcouwer, Tyler del Sesto, Siddarth Venkatraman, Jialin Song, Lucas Igel, Amos Byon, Ugo Rosolia, Yisong Yue, Masahiro Ono
We present MLNav, a learning-enhanced path planning framework for safety-critical and resource-limited systems operating in complex environments, such as rovers navigating on Mars.
no code implementations • 21 Mar 2021 • Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge.
no code implementations • 17 Mar 2021 • Shreyansh Daftry, Barry Ridge, William Seto, Tu-Hoa Pham, Peter Ilhardt, Gerard Maggiolino, Mark Van der Merwe, Alex Brinkman, John Mayo, Eric Kulczyski, Renaud Detry
A potential Mars Sample Return (MSR) architecture is being jointly studied by NASA and ESA.
no code implementations • 5 Mar 2021 • Tu-Hoa Pham, William Seto, Shreyansh Daftry, Barry Ridge, Johanna Hansen, Tristan Thrush, Mark Van der Merwe, Gerard Maggiolino, Alexander Brinkman, John Mayo, Yang Cheng, Curtis Padgett, Eric Kulczycki, Renaud Detry
This work informs the Mars Sample Return campaign on the choice of a site where Perseverance (R0) will place a set of sample tubes for future retrieval by another rover (R1).
1 code implementation • 7 Dec 2020 • Manash Pratim Das, Larry Matthies, Shreyansh Daftry
Thermal infrared cameras are increasingly being used in various applications such as robot vision, industrial inspection and medical imaging, thanks to their improved resolution and portability.
no code implementations • 11 Nov 2020 • Neil Abcouwer, Shreyansh Daftry, Siddarth Venkatraman, Tyler del Sesto, Olivier Toupet, Ravi Lanka, Jialin Song, Yisong Yue, Masahiro Ono
Enhanced AutoNav (ENav), the baseline surface navigation software for NASA's Perseverance rover, sorts a list of candidate paths for the rover to traverse, then uses the Approximate Clearance Evaluation (ACE) algorithm to evaluate whether the most highly ranked paths are safe.
no code implementations • 13 Jun 2018 • Shreyansh Daftry, Yashasvi Agrawal, Larry Matthies
Recently, there have been numerous advances in the development of payload and power constrained lightweight Micro Aerial Vehicles (MAVs).
no code implementations • 1 Aug 2016 • Shreyansh Daftry, J. Andrew Bagnell, Martial Hebert
The ability to transfer knowledge gained in previous tasks into new contexts is one of the most important mechanisms of human learning.
no code implementations • 28 Jul 2016 • Shreyansh Daftry, Sam Zeng, J. Andrew Bagnell, Martial Hebert
As robots aspire for long-term autonomous operations in complex dynamic environments, the ability to reliably take mission-critical decisions in ambiguous situations becomes critical.
no code implementations • 25 Feb 2015 • Shreyansh Daftry, Christof Hoppe, Horst Bischof
Automatic reconstruction of 3D models from images using multi-view Structure-from-Motion methods has been one of the most fruitful outcomes of computer vision.
no code implementations • 24 Nov 2014 • Debadeepta Dey, Kumar Shaurya Shankar, Sam Zeng, Rupesh Mehta, M. Talha Agcayazi, Christopher Eriksen, Shreyansh Daftry, Martial Hebert, J. Andrew Bagnell
Cameras provide a rich source of information while being passive, cheap and lightweight for small and medium Unmanned Aerial Vehicles (UAVs).