Motion Planning under Uncertainty
Shatil Rahman, and Steven L. Waslander.
IEEE Robotics and Automation Letters (RA-L), 2021
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.
Autonomous Maritime Landings for Low-cost VTOL Aerial Vehicles
Kevin Ling, Derek Chow, Arun Das, and Steven L. Waslander. [CRV 2014]