research
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08/18/2023
Pose-Following with Dual Quaternions
This work focuses on pose-following, a variant of path-following in whic...
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10/05/2022
Spatially Constrained Time-Optimal Motion Planning
This paper focuses on spatial time-optimal motion planning, a generaliza...
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09/04/2022
Spatial motion planning with Pythagorean Hodograph curves
This paper presents a two-stage prediction-based control scheme for embe...
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06/01/2022
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT
This paper reports on the development, execution, and open-sourcing of a...
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04/05/2022
SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction
We present SMORS, the first Soft fully actuated MultirOtoR System for mu...
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03/15/2022
Neural-MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms
Model Predictive Control (MPC) has become a popular framework in embedde...
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03/08/2022
Motron: Multimodal Probabilistic Human Motion Forecasting
Autonomous systems and humans are increasingly sharing the same space. R...
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10/11/2021
A caster-wheel-aware MPC-based motion planner for mobile robotics
Differential drive mobile robots often use one or more caster wheels for...
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10/04/2021
Towards Time-Optimal Tunnel-Following for Quadrotors
Minimum-time navigation within constrained and dynamic environments is o...
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04/14/2020