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Vishal Dugar

dblp:203/4656 · DBLP profile ↗
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1ranked-venue papers
1as first author
0since 2021 · last 2017
—ORCID · unresolved

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 first-authorSystems, architecture and hardware · 1 · 1 first-author

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 67% Legged, aerial and field robots · 33%

Topics — the 3 heaviest of 3, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Legged, aerial and field robots
aerial robots
0.312017
A κITE in the wind: Smooth trajectory optimization in a moving reference frame · ICRA 2017
Robotics › Motion planning and robot control
trajectory optimization
0.312017
A κITE in the wind: Smooth trajectory optimization in a moving reference frame · ICRA 2017
Robotics › Motion planning and robot control › motion planning › vehicle motion planning
unmanned aerial vehicle planning
0.312017
A κITE in the wind: Smooth trajectory optimization in a moving reference frame · ICRA 2017

Methods — techniques the papers use, named apart from their topics

velocity profile optimization · 0.3path optimization · 0.3decoupling framework · 0.3
YearPublicationVenuePosition
2017 A κITE in the wind: Smooth trajectory optimization in a moving reference frame
abstract
A significant challenge for unmanned aerial vehicles capable of flying long distances is planning in a wind field. Although there has been a plethora of work on the individual topics of planning long routes, smooth trajectory optimization and planning in a wind field, it is difficult for these methods to scale to solve the combined problem. In this paper, we address the problem of planning long, dynamically feasible, time-optimal trajectories in the presence of wind (which creates a moving reference frame). We present an algorithm, κITE, that elegantly decouples the joint trajectory optimization problem into individual path optimization in a fixed ground frame and a velocity profile optimization in a moving reference frame. The key idea is to derive a decoupling framework that guarantees feasibility of the final fused trajectory. Our results show that κITE is able to produce high-quality solutions for planning with a helicopter flying at speeds of 50 m/s, handling winds up to 20 m/s and missions over 200 km. We validate our approach with real-world experiments on a full-scale helicopter with a pilot in the loop. Our approach paves the way forward for autonomous systems to exhibit pilot-like behavior when flying missions in winds aloft.
Vishal Dugar, Sanjiban Choudhury, Sebastian A. Scherer
ICRA1