I am a Ph.D. student at Carnegie Mellon University, in the Robotics Institute. My research interest is in efficient AI for fully autonomous operation of resource-constrained robots. At the intersection of computer vision, machine learning and systems, I hope to contribute to a future where robots complete tedious and dangerous tasks for humans.
We have developed a swarm of autonomous, tiny drones that is able to localize gas sources in unknown, cluttered environments. Bio-inspired AI allows the drones to tackle this complex task without any external infrastructure.
We present fully autonomous source seeking onboard a highly constrained nano quadcopter, by contributing application-specific system and observation feature design to enable inference of a deep-RL policy onboard a nano quadcopter.
This paper describes the computer vision and control algorithms used to achieve autonomous flight with the ∼30g tailless flapping wing robot, used to participate in the International Micro Air Vehicle Conference and Competition (IMAV 2018) indoor microair vehicle competition.