/Air Lab

Air Lab

Portrait of Air Lab
Lab Head: Sebastian Scherer
Lab Homepage
Mailing Address

The AIR lab develops and tests perception and planning algorithms for unmanned air vehicles.

Displaying 58 Publications
Safe Data Gathering in Physical Spaces
Sankalp Arora

PhD Thesis, Tech. Report, CMU-RI-TR-18-64, October, 2018
Decentralized Method for Sub-swarm Deployment and Rejoining
Meghan Chandarana, Wenhao Luo, Michael Lewis, Katia Sycara and Sebastian Scherer

Conference Paper, 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), October, 2018
DROAN – Disparity-space Representation for Obstacle AvoidaNce: Enabling Wire Mapping & Avoidance
Geetesh Dubey, Ratnesh Madaan and Sebastian Scherer

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2018
Hierarchical registration of unordered TLS point clouds based on binary shape context descriptor
Zhen Dong, Bisheng Yang, Fuxun Liang, Ronggang Huang and Sebastian Scherer

Journal Article, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 144, pp. 61-79, October, 2018
Wire Detection, Reconstruction, and Avoidance for Unmanned Aerial Vehicles
Ratnesh Madaan

Master's Thesis, Tech. Report, CMU-RI-TR-18-61, August, 2018
Adaptive Motion Planning
Sanjiban Choudhury

PhD Thesis, Tech. Report, CMU-RI-TR-18-04, February, 2018
Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Stephan Roth, Silvio Mano Maeta, Stephen T. Nuske, Yuzhang Wu and Sebastian Scherer

Journal Article, Journal of Field Robotics, Vol. 34, No. 1, pp. 25–52, January, 2017
A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors
Yu Song, Stephen T. Nuske and Sebastian Scherer

Journal Article, Sensors, Vol. 17, No. 11, December, 2016
Detecting cars in aerial photographs with a hierarchy of deconvolution nets
Satyaki Chakraborty, Daniel Maturana and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-60, Robotics Institute, Carnegie Mellon University, November, 2016
Nonholonomic motion planning in partially unknown environments using vector fields and optimal planners
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Congresso Brasileiro de Automatica (CBA), October, 2016
Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
Shichao Yang, Yu Song, Michael Kaess and Sebastian Scherer

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1222 – 1229, October, 2016
Modeling and Control of Coaxial UAV with Swashplate Controlled Lower Propeller
Richard Lee, Koushil Sreenath and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-52, Robotics Institute, Carnegie Mellon University, August, 2016
Kinodynamic Motion Planning on Vector Fields using RRT*
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-35, Robotics Institute, Carnegie Mellon University, July, 2016
A Framework for Optimal Repairing of Vector Field-based Motion Plans
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Proceedings of the 2016 International Conference of Unmanned Aircraft Systems (ICUAS), pp. 261-266, June, 2016
Constrained CHOMP using Dual Projected Newton Method
Sanjiban Choudhury and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-17, Robotics Institute, Carnegie Mellon University, May, 2016
List Prediction Applied To Motion Planning
Abhijeet Tallavajhula, Sanjiban Choudhury, Sebastian Scherer and Alonzo Kelly

Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 213 – 220, May, 2016
Real-time 3D Scene Layout from a Single Image Using Convolutional Neural Networks
Shichao Yang, Daniel Maturana and Sebastian Scherer

Conference Paper, International Conference on Robotics and Automation (ICRA), pp. 2183 – 2189, May, 2016
Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning
Sanjiban Choudhury, Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha Srinivasa and Sebastian Scherer

Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 4207 – 4214, May, 2016
Multi-Scale Convolutional Architecture for Semantic Segmentation
Aman Raj, Daniel Maturana and Sebastian Scherer

Tech. Report, CMU-RI-TR-15-21, Robotics Institute, Carnegie Mellon University, pp. 14, October, 2015
Online Safety Verification of Trajectories for Unmanned Flight with Offline Computed Robust Invariant Sets
Daniel Althoff, Matthias Althoff and Sebastian Scherer

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3470 – 3477, September, 2015
VoxNet: A 3D Convolutional Neural Network for Real-Time Object Recognition
Daniel Maturana and Sebastian Scherer

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 922 – 928, September, 2015
Learning a Context-Dependent Switching Strategy for Robust Visual Odometry
Kristen Holtz, Daniel Maturana and Sebastian Scherer

Conference Paper, Field and Service Robotics, June, 2015
Robust Autonomous Flight in Constrained and Visually Degraded Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Silvio Mano Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang and Stephen T. Nuske

Conference Paper, Field and Service Robotics, June, 2015
PASP: Policy Based Approach for Sensor Planning
Sankalp Arora and Sebastian Scherer

Conference Paper, 2015 IEEE International Conference on Robotics and Automation, pp. 3479 – 3486, May, 2015
Real-time Onboard 6DoF Localization of an Indoor MAV in Degraded Visual Environments Using a RGB-D Camera
Zheng Fang and Sebastian Scherer

Conference Paper, 2015 IEEE International Conference on Robotics and Automation, pp. 5253 – 5259, May, 2015
The Dynamics Projection Filter (DPF) – Real-Time Nonlinear Trajectory Optimization Using Projection Operators
Sanjiban Choudhury and Sebastian Scherer

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 644 – 649, May, 2015
The Planner Ensemble: Motion Planning by Executing Diverse Algorithms
Sanjiban Choudhury, Sankalp Arora and Sebastian Scherer

Conference Paper, IEEE Conference on Robotics and Automation, pp. 2389 – 2395, May, 2015
3D Convolutional Neural Networks for Landing Zone Detection from LiDAR
Daniel Maturana and Sebastian Scherer

Conference Paper, International Conference on Robotics and Automation, pp. 3471 – 3478, March, 2015
Connected Invariant Sets for High-Speed Motion Planning in Partially-Known Environments
Daniel Althoff and Sebastian Scherer

Conference Paper, 2015 IEEE International Conference on Robotics and Automation, pp. 3279 – 3285, March, 2015
High-precision Autonomous Flight in Constrained Shipboard Environments
Shichao Yang, Zheng Fang, Sezal Jain, Geetesh Dubey, Silvio Mano Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang and Stephen T. Nuske

Tech. Report, CMU-RI-TR-15-06, Robotics Institute, Carnegie Mellon University, February, 2015
Experimental Study of Odometry Estimation Methods using RGB-D Cameras
Zheng Fang and Sebastian Scherer

Conference Paper, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2014
Learning Motion Planning Assumptions
Anirudh Vemula, Sanjiban Choudhury and Sebastian Scherer

Tech. Report, CMU-RI-TR-14-14, Robotics Institute, Carnegie Mellon University, August, 2014
Visual Odometry in Smoke Occluded Environments
Aditya Agarwal

PhD Thesis, Tech. Report, CMU-RI-TR-15-07, Robotics Institute, Carnegie Mellon University, July, 2014
Robust Multi-Sensor Fusion for Micro Aerial Vehicle Navigation in GPS-Degraded/Denied Environments
Andrew D. Chambers, Sebastian Scherer, Luke Yoder, Sezal Jain, Stephen T. Nuske and Sanjiv Singh

Conference Paper, In Proceedings of American Control Conference, Portland, OR, June, 2014
A Principled Approach to Enable Safe and High Performance Maneuvers for Autonomous Rotorcraft
Sankalp Arora, Sanjiban Choudhury, Sebastian Scherer and Daniel Althoff

Conference Paper, AHS 70th Annual Forum, Montre ́al, Que ́bec, Canada, May 20-22, May, 2014
Autonomous River Exploration
Sezal Jain, Stephen T. Nuske, Andrew D. Chambers, Luke Yoder, Hugh Cover, Lyle J. Chamberlain, Sebastian Scherer and Sanjiv Singh

Conference Paper, Field and Service Robotics, Brisbane, December, 2013
First Results in Detecting and Avoiding Frontal Obstacles from a Monocular Camera for Micro Unmanned Aerial Vehicles
Tomoyuki Mori and Sebastian Scherer

Conference Paper, International Conference on Robotics and Automation, pp. 1750 – 1757, May, 2013
Infrastructure-free Shipdeck Tracking for Autonomous Landing
Sankalp Arora, Sezal Jain, Sebastian Scherer, Stephen T. Nuske, Lyle J. Chamberlain and Sanjiv Singh

Conference Paper, International Conference on Robotics and Automation, pp. 323 – 330, May, 2013
RRT*-AR: Sampling-Based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Conference Paper, International Conference on Robotics and Automation, pp. 3947 - 3952, May, 2013
Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles
Hugh Cover, Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Conference Paper, International Conference on Robotics and Automation, pp. 2820 – 2825, May, 2013
Realtime Alternate Routes Planning:The RRT*-AR Algorithm
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Tech. Report, CMU-RI-TR-12-27, Robotics Institute, Carnegie Mellon University, December, 2012
Autonomous landing at unprepared sites by a full-scale helicopter
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Journal Article, Robotics and Autonomous Systems, Vol. 60, No. 12, pp. 1545 – 1562, September, 2012
First Results in Autonomous Landing and Obstacle Avoidance by a Full-Scale Helicopter
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Conference Paper, ICRA, pp. 951 – 956, May, 2012
River mapping from a flying robot: state estimation, river detection, and obstacle mapping
Sebastian Scherer, Joern Rehder, Supreeth Achar, Hugh Cover, Andrew D. Chambers, Stephen T. Nuske and Sanjiv Singh

Journal Article, Autonomous Robots, Vol. 32, No. 5, pp. 189 – 214, May, 2012
Multiple-Objective Motion Planning for Unmanned Aerial Vehicles
Sebastian Scherer and Sanjiv Singh

Conference Paper, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), pp. 2207 – 2214, September, 2011
Perception for a River Mapping Robot
Andrew D. Chambers, Supreeth Achar, Stephen T. Nuske, Joern Rehder, Bernd Manfred Kitt, Lyle J. Chamberlain, Justin Haines, Sebastian Scherer and Sanjiv Singh

Conference Paper, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), pp. 227 – 234, September, 2011
Navigation and Control for Micro Aerial Vehicles in GPS-Denied Environments
Rudolph Molero Fernandez, Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Tech. Report, CMU-RI-TR-10-08, Robotics Institute, Carnegie Mellon University, June, 2011
Low-Altitude Operation of Unmanned Rotorcraft
Sebastian Scherer

PhD Thesis, Tech. Report, CMU-RI-TR-11-03, Robotics Institute, Carnegie Mellon University, May, 2011
Self-Supervised Segmentation of River Scenes
Supreeth Achar, Bharath Sankaran, Stephen T. Nuske, Sebastian Scherer and Sanjiv Singh

Conference Paper, ICRA 2011, pp. 6227 – 6232, May, 2011
Online Assessment of Landing Sites
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Conference Paper, AIAA Infotech@Aerospace 2010, April, 2010
Efficient C-Space and Cost Function Updates in 3D for Unmanned Aerial Vehicles
Sebastian Scherer, David Ferguson and Sanjiv Singh

Conference Paper, Proceedings International Conference on Robotics and Automation, pp. 2049 – 2054, May, 2009
Flying Fast and Low Among Obstacles: Methodology and Experiments
Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Mike Elgersma

Journal Article, The International Journal of Robotics Research, Vol. 27, No. 5, pp. 549-574, May, 2008
Learning Obstacle Avoidance Parameters from Operator Behavior
Bradley Hamner, Sanjiv Singh and Sebastian Scherer

Journal Article, Special Issue on Machine Learning Based Robotics in Unstructured Environments, Journal of Field Robotics, Vol. 23, No. 12, pp. 1037-1058, December, 2006
Model Checking of Robotic Control Systems
Sebastian Scherer, Flavio Lerda and Edmund M. Clarke

Conference Paper, Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), September, 2005
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