James Goppert
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View article: RESiLIENT: A Neural-Symbolic Resilient Threat-Response Framework for Large-Scale Hierarchical Swarms
RESiLIENT: A Neural-Symbolic Resilient Threat-Response Framework for Large-Scale Hierarchical Swarms Open
Achieving resilience has become an emerging challenge for large-scale swarm autonomy, entailing both the identification of unforeseen events and the recovery of affected systems from such events. The complexity of modern autonomous systems…
View article: Energy-Constrained Resilient Multi-Robot Coverage Control
Energy-Constrained Resilient Multi-Robot Coverage Control Open
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing. …
View article: Event Support for Simulation and Sensitivity Analysis in CasADi for use with Modelica and FMI
Event Support for Simulation and Sensitivity Analysis in CasADi for use with Modelica and FMI Open
CasADi is an open-source framework that can be used to efficiently solve optimization problems involving user-defined ODE/DAE models. Supported solution methods include so-called shooting methods, where solvers for initial-value problems i…
View article: Application of Log-Linear Dynamic Inversion Control to a Multi-rotor
Application of Log-Linear Dynamic Inversion Control to a Multi-rotor Open
This paper presents an approach that employs log-linearization in Lie group theory and the Newton-Euler equations to derive exact linear error dynamics for a multi-rotor model, and applies this model with a novel log-linear dynamic inversi…
View article: Range-based Multi-Robot Integrity Monitoring Against Cyberattacks and Faults: An Anchor-Free Approach
Range-based Multi-Robot Integrity Monitoring Against Cyberattacks and Faults: An Anchor-Free Approach Open
Coordination of multi-robot systems (MRSs) relies on efficient sensing and reliable communication among the robots. However, the sensors and communication channels of these robots are often vulnerable to cyberattacks and faults, which can …
View article: MIXED-SENSE: A Mixed Reality Sensor Emulation Framework for Test and Evaluation of UAVs Against False Data Injection Attacks
MIXED-SENSE: A Mixed Reality Sensor Emulation Framework for Test and Evaluation of UAVs Against False Data Injection Attacks Open
We present a high-fidelity Mixed Reality sensor emulation framework for testing and evaluating the resilience of Unmanned Aerial Vehicles (UAVs) against false data injection (FDI) attacks. The proposed approach can be utilized to assess th…
View article: Exploiting sparsity for localisation of large‐scale wireless sensor networks
Exploiting sparsity for localisation of large‐scale wireless sensor networks Open
Wireless Sensor Network (WSN) localisation refers to the problem of determining the position of each of the agents in a WSN using noisy measurement information. In many cases, such as in distance and bearing‐based localisation, the measure…
View article: A Closed-form Solution for the Strapdown Inertial Navigation Initial Value Problem
A Closed-form Solution for the Strapdown Inertial Navigation Initial Value Problem Open
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without knowledge of the dynamics of the vehicle to which they are atta…
View article: Exploiting Sparsity for Localization of Large-Scale Wireless Sensor Networks
Exploiting Sparsity for Localization of Large-Scale Wireless Sensor Networks Open
Wireless Sensor Network (WSN) localization refers to the problem of determining the position of each of the agents in a WSN using noisy measurement information. In many cases, such as in distance and bearing-based localization, the measure…
View article: Log-linear Dynamic Inversion Control with Provable Safety Guarantees in Lie Groups
Log-linear Dynamic Inversion Control with Provable Safety Guarantees in Lie Groups Open
In this paper, we use the derivative of the exponential map to derive the exact evolution of the logarithm of the tracking error for mixed-invariant systems, a class of systems capable of describing rigid body tracking problems in Lie grou…
View article: PX4/PX4-Autopilot: Stable Release v1.12.3
PX4/PX4-Autopilot: Stable Release v1.12.3 Open
PX4 Autopilot Software
View article: PX4/PX4-Autopilot: v1.12.0 Beta 4
PX4/PX4-Autopilot: v1.12.0 Beta 4 Open
This is the fourth beta of v1.12, which brings a number of significant improvements to PX4: The full release notes are here: https://docs.px4.io/master/en/releases/1.12.html Multi-EKF enabled by default Safety (switch) defaults to off (mot…
View article: PX4/PX4-Autopilot: Stable Release v1.11.3
PX4/PX4-Autopilot: Stable Release v1.11.3 Open
This is a minor, not safety related fix release which ensures that all DSM RC receivers are detected again.
View article: PX4/PX4-Autopilot: Stable Release v1.11.2
PX4/PX4-Autopilot: Stable Release v1.11.2 Open
This is a relatively minor bug fix release. ekf2: update to latest ecl #16174 EKF: Improve robustness of yaw reset to bad inertial data (PX4/PX4-ECL#914) EKF: Use strength in Gauss (bug fix) (PX4/PX4-ECL#933) disable secondary power source…
View article: PX4/Firmware: Stable Release v1.11.1
PX4/Firmware: Stable Release v1.11.1 Open
This point release fixes a number of small issues discovered after the v1.11.0 release. fix thermal calibration if a sensor does not have temperature sensor https://github.com/PX4/Firmware/pull/15671 CubeOrange and CubeYellow IMU heating f…
View article: PX4/Firmware: Stable Release v1.11.0
PX4/Firmware: Stable Release v1.11.0 Open
Release Notes Highlights Multicopter hover thrust estimator (https://github.com/PX4/Firmware/pull/13981) Backup yaw estimator for emergency recovery (https://github.com/PX4/ecl/pull/766) new Invensense and Bosch IMU drivers enabled everywh…
View article: PX4/Firmware: v1.11.0 Beta 1
PX4/Firmware: v1.11.0 Beta 1 Open
v1.11 Release Notes Highlights New significantly improved Invensense IMU drivers that provide all raw data up to 8 kHz using SPI DMA. rate controller can run up to 2 kHz (>= 4 kHz coming soon) by settingIMU_GYRO_RATEMAX New multicopter hov…
View article: PX4/Firmware: Stable Release v1.10.0
PX4/Firmware: Stable Release v1.10.0 Open
Release Notes Highlights Multicopter 1 kHz rate loop (param IMU_GYRO_RATEMAX) DShot ESC Support with Telemetry (PR #12854, Docs) Cone-based RTL (Docs) Significantly improved real time system performance new work queue scheduling framework …
View article: PX4/Firmware: v1.10.0 Beta 4
PX4/Firmware: v1.10.0 Beta 4 Open
Changelog v1.10.0-beta4 (2019-10-21) CollisionPrevention remove unnecessary double precision floating point math Dataman fix invalid use of px4_sem_timedwait FlightTaskDescend set no vertical thrust when commanding velocity FlightTasks ad…
View article: casadi/casadi: 3.5.1
casadi/casadi: 3.5.1 Open
Install Grab a binary from the table (for MATLAB, use the newest compatible version below): WindowsLinuxMac Matlab R2016a or later,R2014b, R2014a, R2013a or R2013b R2014b or later,R2014a R2015a or later,R2014b,R2014a Octave 4.4.1 (32b…
View article: JohannLange/Firmware_Private: Release for Hybrid-Robotics-Lab based on v1.8.2
JohannLange/Firmware_Private: Release for Hybrid-Robotics-Lab based on v1.8.2 Open
No description provided.
View article: PX4/Firmware: v1.8.0 Stable Release
PX4/Firmware: v1.8.0 Stable Release Open
Change Log v1.8.0 (2018-06-19) Implemented enhancements: PX4 Ping Message Protocol #9233 IridiumSBD Debug Message + Acknowlege fix #9326 (acfloria) Fixed bugs: Error in make posix_sitl_default gazebo #9575 fmu_v5 NSH some commands force an…
View article: PX4/Firmware: v1.7.3 Stable Release
PX4/Firmware: v1.7.3 Stable Release Open
This is a maintenance release for v1.7 Fixed board support for boards electrically departing from FMUv2 schematic from several manufacturers Cascaded EKF2 error messages so they do not trigger when calibration is missing on the sensors Dis…
View article: PX4/Firmware: v1.7.0 Stable Release
PX4/Firmware: v1.7.0 Stable Release Open
Release Notes First-generation experimental support for ROS2-like setups with FastRTPS Reduced CPU load and RAM usage Support for new sensors (LIDAR, airspeed, IMU, etc) Significant improvements to estimation system (EKF2) Significant impr…
View article: PX4/Firmware: Release v.1.5.4
PX4/Firmware: Release v.1.5.4 Open
Geofence fix and re-labeled from v1.5.3 to v1.5.4 to fix version indication in QGC.
View article: Firmware: 1.4.3 Release
Firmware: 1.4.3 Release Open
This release improves the ICM20608 filter performance and fixes a USB connectivity issue on the NuttX OS which is visible on all operating systems but most severe on Mac OS X.
View article: Firmware: 1.4.2 Release
Firmware: 1.4.2 Release Open
This release reduces the memory footprint of EKF2 for VTOL use cases.
View article: qgroundcontrol: v3.0.0
qgroundcontrol: v3.0.0 Open
QGroundControl Ground Control Station
View article: Firmware: Second release candidate for 1.4.1 release
Firmware: Second release candidate for 1.4.1 release Open
This introduces a fix for the MAVLink stream rate handling which increases the telemetry bandwidth significantly for all links.