A key control challenge for many autonomous systems is to achieve the performance goals safely with minimal resource use in the presence of mission constraints and uncertainties. In principle these problems can be formulated and solved as optimization problems. The challenge is solving them reliably onboard the autonomous system in real time.

HALO: Hazard Aware Landing Optimization for Autonomous Systems ICRA 2023 Presentation
6:01
HALO: Hazard Aware Landing Optimization for Autonomous Systems ICRA 2023 Presentation
Starship Landing Guidance using Sequential Conic Optimization
0:32
Starship Landing Guidance using Sequential Conic Optimization
HALO: Hazard Aware Landing Optimization for Autonomous Systems Demonstration (ICRA 2023)
2:30
HALO: Hazard Aware Landing Optimization for Autonomous Systems Demonstration (ICRA 2023)
PIPG for Real-Time Quadrotor Trajectory Optimization with Time-Triggered Corridor Constraints
0:43
PIPG for Real-Time Quadrotor Trajectory Optimization with Time-Triggered Corridor Constraints
PIPG Flight Demonstrations for Hoop Obstacle Avoidance
0:29
PIPG Flight Demonstrations for Hoop Obstacle Avoidance
Proportional-Integral Projected Gradient: Flight Demonstration
0:53
Proportional-Integral Projected Gradient: Flight Demonstration
Scenario 5: Quadrotor Vehicle Tracking Performance
1:39
Scenario 5: Quadrotor Vehicle Tracking Performance
Scenario 4: Human-Machine Interface, Slow Zone Implementation
1:20
Scenario 4: Human-Machine Interface, Slow Zone Implementation
Scenario 3: Human-Machine Interface, Free Final Time Formulation
1:03
Scenario 3: Human-Machine Interface, Free Final Time Formulation
Scenario 2: Human-Machine Interface, Trajectory Re-planning in Real-Time
1:01
Scenario 2: Human-Machine Interface, Trajectory Re-planning in Real-Time
Scenario 1: Human-Machine Interface, Obstacle Avoidance and Waypoints
1:29
Scenario 1: Human-Machine Interface, Obstacle Avoidance and Waypoints
Real-time Optimization for Rendezvous and Docking
2:55
Real-time Optimization for Rendezvous and Docking
Outdoor Obstacle Avoidance with Tablet Interface
1:39
Outdoor Obstacle Avoidance with Tablet Interface
Indoor Rover Swarm Demonstration
0:24
Indoor Rover Swarm Demonstration
Tablet GUI Demonstration with Automated Obstacle Placement
0:53
Tablet GUI Demonstration with Automated Obstacle Placement
Tablet GUI Demonstration with Intelligent Feedback Between Algorithms and Human Operator
0:19
Tablet GUI Demonstration with Intelligent Feedback Between Algorithms and Human Operator
Tablet GUI Demonstration of Moderate to Aggressive Flight
0:58
Tablet GUI Demonstration of Moderate to Aggressive Flight
Tablet GUI Flight Demonstration with Live Tracking of Mobile Obstacles
1:17
Tablet GUI Flight Demonstration with Live Tracking of Mobile Obstacles
Tablet GUI Indoor Flight Demonstration with Automated Obstacle Placement
0:46
Tablet GUI Indoor Flight Demonstration with Automated Obstacle Placement
Tablet GUI Outdoor Flight Demonstration
0:15
Tablet GUI Outdoor Flight Demonstration
Tablet GUI Outdoor Flight Demonstration with Mobile Obstacle Tracking
0:54
Tablet GUI Outdoor Flight Demonstration with Mobile Obstacle Tracking
Outdoor flights with GPS-based Navigation
3:03
Outdoor flights with GPS-based Navigation
Real Time Quad Rotor Path Planning for Mobile Obstacle Avoidance Using Convex Optimization
1:27
Real Time Quad Rotor Path Planning for Mobile Obstacle Avoidance Using Convex Optimization
Real-Time Docking
2:00
Real-Time Docking
Real-Time Obstacle Avoidance
0:52
Real-Time Obstacle Avoidance
Docking
0:49
Docking
Aggressive Obstable Avoidance
0:18
Aggressive Obstable Avoidance
Velocity Field Swarm Control
0:59
Velocity Field Swarm Control
Non-Convex Flip Maneuver
0:38
Non-Convex Flip Maneuver
2D Reachability Set
1:18
2D Reachability Set