A novel trajectory optimization formulation that incorporates inequality constraints on uncertainty and a novel Augmented Lagrangian based stochastic differential dynamic programming method in belief space.
Visual Measurement Integrity Monitoring for UAV Localization
Chengyao Li, and Steven L. Waslander.
A novel approach inspired by RAIM to monitor the integrity of visual localization for UAV. The algorithm first detects and rejects potential measurement outliers using a statistical approach, and calculates the protection level of the position estimation.
Towards Robust Autonomous MAV Landing with a Gimbal Camera
Christopher Choi and Steven L. Waslander.
A more robust autonomous landing system for MAVs using a gimbal camera with complete tracking and landing modules. Results are present for both simulation and real MAVs.
Autonomous Maritime Landings for Low-cost VTOL Aerial Vehicles
Kevin Ling, Derek Chow, Arun Das, and Steven L. Waslander. [CRV 2014]
An autonomous landing system of quadrotor UAV on a maritime vessel using an architecture that avoids sensor limitations while allowing for accurate relative pose estimation, even in the presence of wind disturbances.