Autonomy Center Meetings-> Year 2 Review Meeting -> Presentations
| Project | Topic | Investigator | Presentation |
| MAST Autonomy Center Overview | Vijay Kumar | pdf Δ | |
| 1 | Control and Mobility | ||
| Overview | Bert Tanner | ppt Δ | |
| 1.1 | Abstract-based control of MAST platforms | Bert Tanner | |
| 1.2 | Model predictive navigation in unstructured environments | Bert Tanner | ppt Δ |
| 1.3 | Navigation using spatio-temporal Gaussian Processes | Sam Burden | ppt Δ |
| 1.4 | Stochastic hybrid models for aerial and ground vehicles | Sam Burden | see 1.3 |
| 1.5 | Flight in Cluttered and Dynamic Environments | Nick Roy | pdf Δ |
| 2 | Sensing and Estimation | ||
| 2.1 | Distributed Inference for SLAM | Frank Dellaert | pdf Δ |
| 2.1 | Distributed Inference | Hugh Durrant-Whyte | ppt Δ movies Δ |
| 2.2 | Visual Odometry | Kostas Daniilidis | pdf Δ |
| 3 | Communication and Control | ||
| 3.1 | Multi-scale modeling and abstraction of communication links | Yasamin Mostofi | ppt Δ |
| 3.2 | Simulation environment for the integration of communication and navigation in mast scenarios | Yasamin Mostofi | see 3.1 |
| 3.3 | Communications-aware navigation, exploration and mapping | Yasamin Mostofi | see 3.1 |
| 3.4 | Design of network topologies for fast and reliable operation of MAST | John Baras | pdf Δ |
| 3.5 | Coordinated motion planning under spatio-temporal uncertainty | Max Likhachev | ppt Δ |
| 3.6 | Robust wireless networks for connectivity management | Alejandro Ribeiro, Jonathan Fink | pdf Δ |
| 4 | Model-based System Architecture Design and Analysis for Autonomy | ||
| Overview | Tom Collins | pdf Δ ppt Δ | |
| 4.1 | Model-based design, integration and verification of software | Tom Collins, Ron Arkin | ppt Δ |
| 4.1 | Model-based design, integration and verification of software | Claire Tomlin, Pat Bouffard | pdf Δ |
| 4.2 | Simulation and Experimentation Toward Heterogeneous Cooperative Mapping, Estimation, and Control in 2D/3D | Nathan Michael | pdf Δ |
| 5 | Model-based System Architecture Design and Analysis for Autonomy | ||
| Overview | Vijay Kumar | ppt Δ | |
| 5.1 | Optimizing Communication in Air-Ground Robot Networks using Decentralized Control | Daniela Rus | ppt Δ |
| 5.2 | Decentralized algorithms for control and verification of coverage | Jason Derenick | ppt Δ movies Δ |
| 5.3 | Multi-Vehicle Path Planning in Dynamically Changing Environments | Ali Jadbabaie, George Pappas | pptx Δ ppt Δ |
| 6 | Distributed Perception in Harsh Environments | ||
| Overview | Henrik Christensen | ppt Δ | |
| 6.1 | Distributed Perception | Henrik Christensen | ppt Δ |
| 6.2 | Understanding Environment and it's Dynamics | Allen Yang | ppt Δ movie Δ |
| 6.3 | Visual Localization with Known Maps | Kostas Daniilidis | pdf Δ |
| Joint Experimental Tasks | |||
| Overview | Vijay Kumar | pdf Δ | |
| J3.1 | Coordinated Mapping and Simultaneous Localization and Mapping (SLAM) | Henrik Christensen | ppt Δ |
| J3.2 | Robot Ensemble Communications with Repeaters | Vijay Kumar, Nathan Michael, Ethan Stump | 1: pdf Δ 2: pdf Δ |
| 8 | Wrap up | Vijay Kumar | ppt Δ |
Presenters, please send your files to mast.autonomy@gmail.com and they will be posted here. Contact Alex Kushleyev akushley (at) seas . upenn . edu, if you have any questions.
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