Brady Moon
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View article: Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid
Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid Open
Assured safe-separation is essential for achieving seamless high-density operation of airborne vehicles in a shared airspace. To equip resource-constrained aerial systems with this safety-critical capability, we present ViSafe, a high-spee…
View article: IA-TIGRIS: An Incremental and Adaptive Sampling-Based Planner for Online Informative Path Planning
IA-TIGRIS: An Incremental and Adaptive Sampling-Based Planner for Online Informative Path Planning Open
Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collection, informative path planning must be computed online and be…
View article: Decentralized Multi-Agent Search for Moving Targets Using Road Network Gaussian Process Regressions
Decentralized Multi-Agent Search for Moving Targets Using Road Network Gaussian Process Regressions Open
Unmanned aerial vehicles (UAVs) can collaborate as teams to accomplish diverse mission objectives, such as target search and tracking. This paper introduces a method that leverages accumulated target-density information over the course of …
View article: MapEx: Indoor Structure Exploration with Probabilistic Information Gain from Global Map Predictions
MapEx: Indoor Structure Exploration with Probabilistic Information Gain from Global Map Predictions Open
Exploration is a critical challenge in robotics, centered on understanding unknown environments. In this work, we focus on robots exploring structured indoor environments which are often predictable and composed of repeating patterns. Most…
View article: Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV
Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV Open
Uncrewed Aerial Vehicles (UAVs) are a leading choice of platforms for a variety of information-gathering applications. Sensor planning can enhance the efficiency and success of these types of missions when coupled with a higher-level infor…
View article: UniSaT: Unified-Objective Belief Model and Planner to Search for and Track Multiple Objects
UniSaT: Unified-Objective Belief Model and Planner to Search for and Track Multiple Objects Open
Path planning for autonomous search and tracking of multiple objects is a critical problem in applications such as reconnaissance, surveillance, and data gathering. Due to the inherent competing objectives of searching for new objects whil…
View article: TartanAviation: Image, Speech, and ADS-B Trajectory Datasets for Terminal Airspace Operations
TartanAviation: Image, Speech, and ADS-B Trajectory Datasets for Terminal Airspace Operations Open
We introduce TartanAviation, an open-source multi-modal dataset focused on terminal-area airspace operations. TartanAviation provides a holistic view of the airport environment by concurrently collecting image, speech, and ADS-B trajectory…
View article: WIT-UAS: A Wildland-fire Infrared Thermal Dataset to Detect Crew Assets From Aerial Views
WIT-UAS: A Wildland-fire Infrared Thermal Dataset to Detect Crew Assets From Aerial Views Open
We present the Wildland-fire Infrared Thermal (WIT-UAS) dataset for long-wave infrared sensing of crew and vehicle assets amidst prescribed wildland fire environments. While such a dataset is crucial for safety monitoring in wildland fire …
View article: Quantifying the Effect of Weather on Advanced Air Mobility Operations
Quantifying the Effect of Weather on Advanced Air Mobility Operations Open
We quantify and analyze the potential number of flyable hours for an advanced air mobility (AAM) vehicle over the contiguous United States. We use Meteorological Aerodrome Reports (METARs) from 2019, covering 91 airports in the US. By filt…
View article: Challenges in Close-Proximity Safe and Seamless Operation of Manned and Unmanned Aircraft in Shared Airspace
Challenges in Close-Proximity Safe and Seamless Operation of Manned and Unmanned Aircraft in Shared Airspace Open
We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system …
View article: PyPose: A Library for Robot Learning with Physics-based Optimization
PyPose: A Library for Robot Learning with Physics-based Optimization Open
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physics-based optimization generalizes better, but it does not pe…
View article: AirTrack: Onboard Deep Learning Framework for Long-Range Aircraft Detection and Tracking
AirTrack: Onboard Deep Learning Framework for Long-Range Aircraft Detection and Tracking Open
Detect-and-Avoid (DAA) capabilities are critical for safe operations of unmanned aircraft systems (UAS). This paper introduces, AirTrack, a real-time vision-only detect and tracking framework that respects the size, weight, and power (SWaP…
View article: Predicting Like A Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace
Predicting Like A Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace Open
Pilots operating aircraft in un-towered airspace rely on their situational\nawareness and prior knowledge to predict the future trajectories of other\nagents. These predictions are conditioned on the past trajectories of other\nagents, age…
View article: TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning
TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning Open
Informative path planning is an important and challenging problem in robotics that remains to be solved in a manner that allows for wide-spread implementation and real-world practical adoption. Among various reasons for this, one is the la…
View article: Predicting Like A Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace
Predicting Like A Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace Open
Pilots operating aircraft in un-towered airspace rely on their situational awareness and prior knowledge to predict the future trajectories of other agents. These predictions are conditioned on the past trajectories of other agents, agent-…
View article: CVaR-based Flight Energy Risk Assessment for Multirotor UAVs using a Deep Energy Model
CVaR-based Flight Energy Risk Assessment for Multirotor UAVs using a Deep Energy Model Open
Energy management is a critical aspect of risk assessment for Uncrewed Aerial Vehicle (UAV) flights, as a depleted battery during a flight brings almost guaranteed vehicle damage and a high risk of human injuries or property damage. Predic…
View article: Gesture commands for controlling high-level UAV behavior
Gesture commands for controlling high-level UAV behavior Open
Directing groups of unmanned air vehicles (UAVs) is a task that typically requires the full attention of several operators. This can be prohibitive in situations where an operator must pay attention to their surroundings. In this paper we …