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Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles



Overview


In this project, we plan for a rivermapping robot. We design an efficient 3D visibility graph.

Abstract


UAVs operating outdoors have to move through clutter as well as free space. We have designed an algorithm, SPARTAN, which plans rapidly through free space and is efficiently guided around obstacles by creating a sparsely connected tangential graph across obstacles.

Publications


  • H. Cover,S. Choudhury, S. Scherer, S. Singh, "Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles", IEEE International Conference on Robotics and Automation, 2013, accepted.

  • Links


    Here is the project webpage for the river mapping robot .