Michael Watterson

PhD Student - University of Pennsylvania
Advisor - Dr. Vijay Kumar

Publications

M. Watterson and V. Kumar, “Safe receding horizon control for aggressive MAV flight with limited range sensing,” in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pp. 3235-3240.

G. Loianno, M. Watterson, and V. Kumar, “Visual inertial odometry for quadrotors on SE(3),” in 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 1544-1551.

S. Liu, M. Watterson, S. Tang, and V. Kumar, “High speed navigation for quadrotors with limited onboard sensing,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 1484-1491.

M. Watterson, T. Smith, and V. Kumar, “Smooth Trajectory Generation on SE(3) for a Free Flying Space Robot,” 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, pp. 5459-5466.

S. Liu, M. Watterson, K. Mohta, K. Sun, S. Bhattacharya, C. Taylor, and V. Kumar, “Planning Dynamically Feasible Trajectories for Quadrotors using Safe Flight Corridors in 3-D Complex Environments,” IEEE Robotics and Automation Letters, 2017, pp. 1688-1695.

M. Watterson and V. Kumar, “Control of Quadrotors Using the Hopf Fibration on SO(3),” 2017 International Symposium on Research Robotics (ISRR) , 2017.

K. Mohta, M. Watterson, Y. Mulgaonkar, S. Liu, C. Qu, A. Makineni, K. Saulnier, K. Sun, A. Zhu, J. Delmerico, K. Karydis, N. Atanasov, G. Loianno, D. Scaramuzza, K. Daniilidis, C. Taylor, and V. Kumar , “Fast, Autonomous Flight in GPS-Denied and Cluttered Environments,” Journal of Field Robotics,, 2017.

K. Sun, K. Mohta, B. Pfrommer, M. Watterson, S. Liu, Y. Mulgaonkar, C.Taylor, V. Kumar , “Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight,” IEEE Robotics and Automation Letters,, 2018.

K. Mohta, K. Sun, S. Liu, M. Watterson, B. Pfrommer, J. Svacha, Y. Mulgaonkar, C. Taylor, V. Kumar, “Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight,” 2018 IEEE International Conference on Robotics and Automation (ICRA),, 2018.

DARPA Fast Lightweight Autonomy

Autonomous high speed navigation and control for a quadrotor MAV with all sensing, estimation, control, perception, and planing done with on-board computation.

NASA Astrobee

Free flying robot in development for flight inside the zero gravity environment of the international space station. Collaboration with the intelligent robotics group (IRG) at NASA Ames as part of the NSTRF program.

Aerial Robotics Online Course

Online course which provides a mathematical foundation to the analysis of dynamics, control, and planning of multi-rotor micro aerial vehicles.

DARPA Robotics Challenge

Hydraulically actuated humanoid robot designed for disaster response applications. Focused on full body control using a quasi-static multi-limb algorithm.

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