Semi-dense visual-inertial odometry and mapping for computationally constrained platforms.

Kartik Mohta https://orcid.org/0000-0002-0932-6475 https://www.wikidata.org/entity/Q60169177

Wenxin Liu 0002 Kartik Mohta Giuseppe Loianno Kostas Daniilidis Vijay Kumar 0001 Semi-dense visual-inertial odometry and mapping for computationally constrained platforms. 773-787 2021 45 Auton. Robots 6 https://doi.org/10.1007/s10514-021-10002-z db/journals/arobots/arobots45.html#LiuMLDK21

Yash Vardhan Pant Houssam Abbas Kartik Mohta Rhudii A. Quaye Truong X. Nghiem Joseph Devietti Rahul Mangharam Anytime Computation and Control for Autonomous Systems. 768-779 2021 29 IEEE Trans. Control. Syst. Technol. 2 https://doi.org/10.1109/TCST.2020.2979388 db/journals/tcst/tcst29.html#PantAMQNDM21

Ty Nguyen Kartik Mohta Camillo J. Taylor Vijay Kumar 0001 Vision-based Multi-MAV Localization with Anonymous Relative Measurements Using Coupled Probabilistic Data Association Filter. 3349-3355 2020 ICRA https://doi.org/10.1109/ICRA40945.2020.9196793 conf/icra/2020 db/conf/icra/icra2020.html#NguyenMT020 Morgan Quigley Kartik Mohta Shreyas S. Shivakumar Michael Watterson Yash Mulgaonkar Mikael Arguedas Ke Sun 0008 Sikang Liu 0002 Bernd Pfrommer Vijay Kumar 0001 Camillo J. Taylor The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots. 1834-1840 2019 ICRA https://doi.org/10.1109/ICRA.2019.8794472 conf/icra/2019 db/conf/icra/icra2019.html#QuigleyMSWMA0LP19 Shreyas S. Shivakumar Kartik Mohta Bernd Pfrommer Vijay Kumar 0001 Camillo J. Taylor Real Time Dense Depth Estimation by Fusing Stereo with Sparse Depth Measurements. 6482-6488 2019 ICRA https://doi.org/10.1109/ICRA.2019.8794023 conf/icra/2019 db/conf/icra/icra2019.html#ShivakumarMPKT19

Kartik Mohta Michael Watterson Yash Mulgaonkar Sikang Liu 0002 Chao Qu Anurag Makineni Kelsey Saulnier Ke Sun 0008 Alex Zihao Zhu Jeffrey A. Delmerico Konstantinos Karydis Nikolay Atanasov 0001 Giuseppe Loianno Davide Scaramuzza 0001 Kostas Daniilidis Camillo Jose Taylor Vijay Kumar 0001 Fast, autonomous flight in GPS-denied and cluttered environments. 101-120 2018 35 J. Field Robotics 1 https://doi.org/10.1002/rob.21774 db/journals/jfr/jfr35.html#MohtaWMLQMSSZDK18

Ke Sun 0008 Kartik Mohta Bernd Pfrommer Michael Watterson Sikang Liu 0002 Yash Mulgaonkar Camillo J. Taylor Vijay Kumar 0001 Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight. 965-972 2018 3 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2018.2793349 db/journals/ral/ral3.html#SunMPWLMTK18

Sikang Liu 0002 Kartik Mohta Nikolay Atanasov 0001 Vijay Kumar 0001 Search-Based Motion Planning for Aggressive Flight in SE(3). 2439-2446 2018 3 IEEE Robotics Autom. Lett. 3 https://doi.org/10.1109/LRA.2018.2795654 db/journals/ral/ral3.html#LiuMAK18

Wenxin Liu 0002 Giuseppe Loianno Kartik Mohta Kostas Daniilidis Vijay Kumar 0001 Semi-Dense Visual-Inertial Odometry and Mapping for Quadrotors with SWAP Constraints. 1-6 2018 ICRA https://doi.org/10.1109/ICRA.2018.8463163 conf/icra/2018 db/conf/icra/icra2018.html#LiuLMDK18 Kartik Mohta Ke Sun 0008 Sikang Liu 0002 Michael Watterson Bernd Pfrommer James Svacha Yash Mulgaonkar Camillo Jose Taylor Vijay Kumar 0001 Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight. 7832-7839 2018 ICRA https://doi.org/10.1109/ICRA.2018.8463214 conf/icra/2018 db/conf/icra/icra2018.html#Mohta0LWPSMT018 James Svacha Kartik Mohta Michael Watterson Giuseppe Loianno Vijay Kumar 0001 Inertial Velocity and Attitude Estimation for Quadrotors. 1-9 2018 IROS https://doi.org/10.1109/IROS.2018.8593616 conf/iros/2018 db/conf/iros/iros2018.html#SvachaMWLK18

Kartik Mohta Ke Sun 0008 Sikang Liu 0002 Michael Watterson Bernd Pfrommer James Svacha Yash Mulgaonkar Camillo Jose Taylor Vijay Kumar 0001 Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight. 2018 abs/1806.07053 CoRR http://arxiv.org/abs/1806.07053 db/journals/corr/corr1806.html#abs-1806-07053

Morgan Quigley Kartik Mohta Shreyas S. Shivakumar Michael Watterson Yash Mulgaonkar Mikael Arguedas Ke Sun 0008 Sikang Liu 0002 Bernd Pfrommer Vijay Kumar 0001 Camillo J. Taylor The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots. 2018 abs/1809.07674 CoRR http://arxiv.org/abs/1809.07674 db/journals/corr/corr1809.html#abs-1809-07674

Shreyas S. Shivakumar Kartik Mohta Bernd Pfrommer Vijay Kumar 0001 Camillo J. Taylor Real Time Dense Depth Estimation by Fusing Stereo with Sparse Depth Measurements. 2018 abs/1809.07677 CoRR http://arxiv.org/abs/1809.07677 db/journals/corr/corr1809.html#abs-1809-07677

Sikang Liu 0002 Kartik Mohta Nikolay Atanasov 0001 Vijay Kumar 0001 Towards Search-based Motion Planning for Micro Aerial Vehicles. 2018 abs/1810.03071 CoRR http://arxiv.org/abs/1810.03071 db/journals/corr/corr1810.html#abs-1810-03071

Sikang Liu 0002 Michael Watterson Kartik Mohta Ke Sun 0008 Subhrajit Bhattacharya Camillo J. Taylor Vijay Kumar 0001 Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments. 1688-1695 2017 2 IEEE Robotics Autom. Lett. 3 https://doi.org/10.1109/LRA.2017.2663526 db/journals/ral/ral2.html#LiuWMSBTK17

Sikang Liu 0002 Nikolay Atanasov 0001 Kartik Mohta Vijay Kumar 0001 Search-based motion planning for quadrotors using linear quadratic minimum time control. 2872-2879 2017 IROS https://doi.org/10.1109/IROS.2017.8206119 conf/iros/2017 db/conf/iros/iros2017.html#LiuAMK17

Sikang Liu 0002 Nikolay Atanasov 0001 Kartik Mohta Vijay Kumar 0001 Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control. 2017 abs/1709.05401 CoRR http://arxiv.org/abs/1709.05401 db/journals/corr/corr1709.html#abs-1709-05401

Sikang Liu 0002 Kartik Mohta Nikolay Atanasov 0001 Vijay Kumar 0001 Search-based Motion Planning for Aggressive Flight in SE(3). 2017 abs/1710.02748 CoRR http://arxiv.org/abs/1710.02748 db/journals/corr/corr1710.html#abs-1710-02748

Ke Sun 0008 Kartik Mohta Bernd Pfrommer Michael Watterson Sikang Liu 0002 Yash Mulgaonkar Camillo J. Taylor Vijay Kumar 0001 Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight. 2017 abs/1712.00036 CoRR http://arxiv.org/abs/1712.00036 db/journals/corr/corr1712.html#abs-1712-00036

Kartik Mohta Michael Watterson Yash Mulgaonkar Sikang Liu 0002 Chao Qu Anurag Makineni Kelsey Saulnier Ke Sun 0008 Alex Zihao Zhu Jeffrey A. Delmerico Konstantinos Karydis Nikolay Atanasov 0001 Giuseppe Loianno Davide Scaramuzza 0001 Kostas Daniilidis Camillo Jose Taylor Vijay Kumar 0001 Fast, Autonomous Flight in GPS-Denied and Cluttered Environments. 2017 abs/1712.02052 CoRR http://arxiv.org/abs/1712.02052 db/journals/corr/corr1712.html#abs-1712-02052

Armon Shariati Kartik Mohta Camillo J. Taylor Recovering relative orientation and scale from visual odometry and ranging radio measurements. 3627-3633 2016 IROS https://doi.org/10.1109/IROS.2016.7759534 conf/iros/2016 db/conf/iros/iros2016.html#ShariatiMT16 Tolga Özaslan Kartik Mohta James Keller 0002 Yash Mulgaonkar Camillo J. Taylor Vijay Kumar 0001 Jennifer M. Wozencraft Thomas Hood Towards fully autonomous visual inspection of dark featureless dam penstocks using MAVs. 4998-5005 2016 IROS https://doi.org/10.1109/IROS.2016.7759734 conf/iros/2016 db/conf/iros/iros2016.html#OzaslanMKMTKWH16 Nicola Bezzo Kartik Mohta Cameron Nowzari Insup Lee 0001 Vijay Kumar 0001 George J. Pappas Online planning for energy-efficient and disturbance-aware UAV operations. 5027-5033 2016 IROS https://doi.org/10.1109/IROS.2016.7759738 conf/iros/2016 db/conf/iros/iros2016.html#BezzoMNL0P16 Yash Vardhan Pant Houssam Abbas Kartik Mohta Truong X. Nghiem Joseph Devietti Rahul Mangharam Co-design of Anytime Computation and Robust Control. 43-52 2015 RTSS https://doi.org/10.1109/RTSS.2015.12 https://doi.ieeecomputersociety.org/10.1109/RTSS.2015.12 conf/rtss/2015 db/conf/rtss/rtss2015.html#PantAMNDM15

Matthew Turpin Kartik Mohta Nathan Michael Vijay Kumar 0001 Goal assignment and trajectory planning for large teams of interchangeable robots. 401-415 2014 37 Auton. Robots 4 https://doi.org/10.1007/s10514-014-9412-1 db/journals/arobots/arobots37.html#TurpinMMK14

Kartik Mohta Vijay Kumar 0001 Kostas Daniilidis Vision-based control of a quadrotor for perching on lines. 3130-3136 2014 ICRA https://doi.org/10.1109/ICRA.2014.6907309 conf/icra/2014 db/conf/icra/icra2014.html#MohtaKD14 Kartik Mohta Matthew Turpin Alex Kushleyev Daniel Mellinger Nathan Michael Vijay Kumar 0001 QuadCloud: A Rapid Response Force with Quadrotor Teams. 577-590 2014 ISER https://doi.org/10.1007/978-3-319-23778-7_38 conf/iser/2014 db/conf/iser/iser2014.html#MohtaTKMMK14 Sikang Liu 0002 Kartik Mohta Shaojie Shen Vijay Kumar 0001 Towards Collaborative Mapping and Exploration Using Multiple Micro Aerial Robots. 865-878 2014 ISER https://doi.org/10.1007/978-3-319-23778-7_57 conf/iser/2014 db/conf/iser/iser2014.html#LiuMSK14 Ankur M. Mehta Daniela Rus Kartik Mohta Yash Mulgaonkar Matthew Piccoli Vijay Kumar 0001 A Scripted Printable Quadrotor: Rapid Design and Fabrication of a Folded MAV. 203-219 2013 ISRR https://doi.org/10.1007/978-3-319-28872-7_12 conf/isrr/2013 db/conf/isrr/isrr2013.html#MehtaRMMP013 Matthew Turpin Kartik Mohta Nathan Michael Vijay Kumar 0001 Goal Assignment and Trajectory Planning for Large Teams of Aerial Robots. 2013 Robotics: Science and Systems http://www.roboticsproceedings.org/rss09/p30.html https://doi.org/10.15607/RSS.2013.IX.030 conf/rss/2013 db/conf/rss/rss2013.html#TurpinMMK13

Nathan Michael Shaojie Shen Kartik Mohta Yash Mulgaonkar Vijay Kumar 0001 Keiji Nagatani Yoshito Okada Seiga Kiribayashi Kazuki Otake Kazuya Yoshida Kazunori Ohno Eijiro Takeuchi Satoshi Tadokoro Collaborative mapping of an earthquake-damaged building via ground and aerial robots. 832-841 2012 29 J. Field Robotics 5 https://doi.org/10.1002/rob.21436 https://www.wikidata.org/entity/Q59818865 db/journals/jfr/jfr29.html#MichaelSMMKNOKOYOTT12

Nathan Michael Shaojie Shen Kartik Mohta Vijay Kumar 0001 Keiji Nagatani Yoshito Okada Seiga Kiribayashi Kazuki Otake Kazuya Yoshida Kazunori Ohno Eijiro Takeuchi Satoshi Tadokoro Collaborative Mapping of an Earthquake Damaged Building via Ground and Aerial Robots. 33-47 2012 FSR https://doi.org/10.1007/978-3-642-40686-7_3 https://www.wikidata.org/entity/Q59818856 conf/fsr/2012 db/conf/fsr/fsr2012.html#MichaelSMKNOKOYOTT12 Nathan Michael Ethan Stump Kartik Mohta Persistent surveillance with a team of MAVs. 2708-2714 2011 IROS https://doi.org/10.1109/IROS.2011.6095174 conf/iros/2011 db/conf/iros/iros2011.html#MichaelSM11 Houssam Abbas Mikael Arguedas Nikolay Atanasov 0001 Nicola Bezzo Subhrajit Bhattacharya Kostas Daniilidis Jeffrey A. Delmerico Joseph Devietti Thomas Hood Konstantinos Karydis James Keller 0002 Seiga Kiribayashi Vijay Kumar 0001 Aleksandr KushleyevAlex Kushleyev Insup Lee 0001 Sikang Liu 0002 Wenxin Liu 0002 Giuseppe Loianno Anurag Makineni Rahul Mangharam Ankur M. Mehta Daniel Mellinger Nathan Michael Yash Mulgaonkar Keiji Nagatani Truong NghiemTruong X. Nghiem Ty Nguyen Cameron Nowzari Kazunori Ohno Yoshito Okada Kazuki Otake Tolga Özaslan Yash PantYash Vardhan Pant George J. Pappas Bernd Pfrommer Matthew Piccoli Chao Qu Rhudii A. Quaye Morgan Quigley Daniela Rus Kelsey Saulnier Davide Scaramuzza 0001 Armon Shariati Shaojie Shen Shreyas S. Shivakumar Ethan Stump Ke Sun 0008 James Svacha Satoshi Tadokoro Eijiro Takeuchi Camillo J. TaylorCamillo Jose Taylor Matthew Turpin Michael Watterson Jennifer M. Wozencraft Kazuya Yoshida Alex Zihao Zhu