{"id":"https://openalex.org/W2979705751","doi":"https://doi.org/10.1109/iros40897.2019.8967595","title":"Advanced Autonomy on a Low-Cost Educational Drone Platform","display_name":"Advanced Autonomy on a Low-Cost Educational Drone Platform","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2979705751","doi":"https://doi.org/10.1109/iros40897.2019.8967595","mag":"2979705751"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967595","doi":"https://doi.org/10.1109/iros40897.2019.8967595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967595","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.03516","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053719421","display_name":"Luke Eller","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luke Eller","raw_affiliation_strings":["Brown University,Department of Computer Science,Providence,RI,USA,02912"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University,Department of Computer Science,Providence,RI,USA,02912","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Th\u00e9o Gu\u00e9rin","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Th\u00e9o Gu\u00e9rin","raw_affiliation_strings":["Brown University,Department of Computer Science,Providence,RI,USA,02912"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University,Department of Computer Science,Providence,RI,USA,02912","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101611516","display_name":"Baichuan Huang","orcid":"https://orcid.org/0000-0003-4010-8545","observed_orcids":["https://orcid.org/0000-0003-4010-8545"]},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Baichuan Huang","raw_affiliation_strings":["Brown University,Department of Computer Science,Providence,RI,USA,02912"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University,Department of Computer Science,Providence,RI,USA,02912","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Garrett Warren","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Garrett Warren","raw_affiliation_strings":["Brown University,Department of Computer Science,Providence,RI,USA,02912"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University,Department of Computer Science,Providence,RI,USA,02912","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sophie Yang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sophie Yang","raw_affiliation_strings":["Brown University,Department of Computer Science,Providence,RI,USA,02912"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University,Department of Computer Science,Providence,RI,USA,02912","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044994771","display_name":"Josh Roy","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Josh Roy","raw_affiliation_strings":["Brown University,Department of Computer Science,Providence,RI,USA,02912"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University,Department of Computer Science,Providence,RI,USA,02912","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059273574","display_name":"Stefanie Tellex","orcid":"https://orcid.org/0000-0002-2905-4075","observed_orcids":["https://orcid.org/0000-0002-2905-4075"]},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefanie Tellex","raw_affiliation_strings":["Brown University,Department of Computer Science,Providence,RI,USA,02912","Brown University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University,Department of Computer Science,Providence,RI,USA,02912","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I27804330"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27804330"],"apc_list":null,"apc_paid":null,"fwci":1.8132,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.84935038,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1032","last_page":"1039"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5907999873161316,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5907999873161316,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14335","display_name":"Educational Robotics and Engineering","score":0.365200012922287,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.01679999940097332,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/quadrotor","display_name":"quadrotor","score":0.8820000290870667},{"id":"https://openalex.org/keywords/autonomous-aerial-robots","display_name":"autonomous aerial robots","score":0.9120000004768372},{"id":"https://openalex.org/keywords/onboard-autonomy","display_name":"onboard autonomy","score":0.5989999771118164},{"id":"https://openalex.org/keywords/unscented-kalman-filter","display_name":"unscented Kalman filter","score":0.8510000109672546},{"id":"https://openalex.org/keywords/state-estimation","display_name":"state estimation","score":0.8980000019073486},{"id":"https://openalex.org/keywords/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.9810000061988831},{"id":"https://openalex.org/keywords/fastslam","display_name":"FastSLAM","score":0.9470000267028809},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"SLAM","score":0.9869999885559082},{"id":"https://openalex.org/keywords/raspberry-pi","display_name":"Raspberry Pi","score":0.9039999842643738},{"id":"https://openalex.org/keywords/low-cost-robotics","display_name":"low-cost robotics","score":0.5659999847412109},{"id":"https://openalex.org/keywords/python","display_name":"Python","score":0.5099999904632568}],"concepts":[{"id":"https://openalex.org/C519991488","wikidata":"https://www.wikidata.org/wiki/Q28865","display_name":"Python (programming language)","level":2,"score":0.7410206198692322},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7274752259254456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6373425126075745},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6258477568626404},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6094329357147217},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6077440977096558},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5829956531524658},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5749989748001099},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5622656941413879},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4781794846057892},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4756842851638794},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46797114610671997},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.410567045211792},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3482465445995331},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.278844952583313},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.15526941418647766},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros40897.2019.8967595","doi":"https://doi.org/10.1109/iros40897.2019.8967595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967595","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.03516","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.03516","pdf_url":"https://arxiv.org/pdf/1910.03516","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.1910.03516","doi":"https://doi.org/10.48550/arxiv.1910.03516","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.03516","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.03516","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.03516","pdf_url":"https://arxiv.org/pdf/1910.03516","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Quality education","id":"https://metadata.un.org/sdg/4","score":0.9235000014305115}],"study_designs":[],"awards":[{"id":"https://openalex.org/G4141654143","display_name":"THE AIM OF THIS PROPOSAL IS TO TEST THE HYPOTHESIS THAT A SYSTEM CAN INCREASE SPEED AND ACCURACY AT INFERRING HUMAN INTENTIONS AND INCREASE THE NUMBER OF ROBOTS A SINGLE ASTRONAUT CAN SUPERVISE BY INFERRING A PERSON'S MENTAL STATE FROM THEIR LANGUAGE UTTERANCES  ACTIVELY ASKING QUESTIONS WHEN IT IS CONFUSED  DRIVEN BY A FORMAL MODEL OF HRI THAT LEARNS A HIERARCHICAL REPRESENTATION FOR PLANNING UNDER UNCERTAINTY  CALLED THE HUMAN-ROBOT COLLABORATIVE POMDP. THIS INFERENCE WILL ENABLE A PERSON TO EFFECTIVELY COMMUNICATE COMPLEX REQUIREMENTS AND TASKS CONSTRAINTS TO THE PERSON AT VERY ABSTRACT LEVELS (E.G.  ``INSPECT THE ISS'') AND AT VERY SPECIFIC LEVELS (E.G.  ``MOVE LEFT SIX INCHES '') AS WELL AS ASKING TARGETED QUESTIONS AT DIFFERENT LEVELS OF ABSTRACTION (E.G.  ``DO YOU MEAN THE PHILIPS SCREWDRIVER OR THE FLAT HEAD?''). THE END GOAL OF THIS PROPOSAL IS TO ACHIEVE SEAMLESS HUMAN-ROBOT COOPERATION ON COMPLEX TASKS  APPROACHING THE EASE AND ACCURACY OF HUMAN-HUMAN COLLABORATION. HUMANS COMMUNICATING WITH OTHER HUMANS USING LANGUAGE TO EXPRESS VERY ABSTRACT GOALS AS WELL AS VERY LOW-LEVEL CONCRETE COMMANDS. THIS USE OF LANGUAGE ENABLES HIGH LEVELS OF AUTONOMY BUT ALSO SUPPORTS FLEXIBLE AND FLUID CORRECTIONS AND REPLANNING. ROBOTS THAT CAN USE FLUID LANGUAGE AT MULTIPLE LEVELS OF ABSTRACTION CAN FLEXIBLY RESPOND TO A PERSON'S REQUESTS. THE ULTIMATE IMPACT IS A WORLD WHERE ROBOTS ACTIVELY INTERPRET A PERSON'S INSTRUCTIONS  ASKING QUESTIONS WHEN THEY ARE CONFUSED  AND ASKING FOR HELP WHEN THEY ENCOUNTER A PROBLEM. THIS PROPOSAL WILL ASSESS PERFORMANCE USING TWO TASKS: NATURAL LANGUAGE CONTROL OF AN AR DRONE UAV (AS A MODEL FOR ASTROBEE) AND NATURAL LANGUAGE-BASED COLLABORATIVE ASSEMBLY USING BAXTER (AS A MODEL FOR ROBONAUT). THESE TASKS WILL ASSESS THE ABILITY OF THE FRAMEWORK TO FACILITATE IMPROVED HUMAN-ROBOT COLLABORATION USING LANGUAGE-BASED INTERFACES AND DECISION-THEORETIC PLANNING.","funder_award_id":"NNX16AR61G","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320316556","display_name":"Amazon Robotics","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2979705751.pdf","grobid_xml":"https://content.openalex.org/works/W2979705751.grobid-xml"},"referenced_works_count":12,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1521470386","https://openalex.org/W1749494163","https://openalex.org/W1964907620","https://openalex.org/W2148820580","https://openalex.org/W2151103935","https://openalex.org/W2535547924","https://openalex.org/W2889566513","https://openalex.org/W2910767409","https://openalex.org/W2966966766","https://openalex.org/W3210232381","https://openalex.org/W4230766380"],"related_works":["https://openalex.org/W2910767409","https://openalex.org/W2090837578","https://openalex.org/W1969847492","https://openalex.org/W4293232201","https://openalex.org/W4413925031","https://openalex.org/W2588855392","https://openalex.org/W126378795","https://openalex.org/W4415223152","https://openalex.org/W2963985654","https://openalex.org/W4366777698"],"abstract_inverted_index":{"PiDrone":[0],"is":[1,106],"a":[2,46,115,131],"quadrotor":[3],"platform":[4],"created":[5],"to":[6,22,110],"accompany":[7],"an":[8,14,52,72,84],"introductory":[9],"robotics":[10],"course.":[11],"Students":[12],"build":[13],"autonomous":[15,36,53,123],"flying":[16],"robot":[17],"from":[18],"scratch":[19],"and":[20,27,42,48,91,96,104,108,128],"learn":[21],"program":[23],"it":[24,137],"through":[25],"assignments":[26],"projects.":[28],"Existing":[29],"educational":[30,124,142],"robots":[31],"do":[32],"not":[33],"have":[34],"significant":[35],"capabilities,":[37],"such":[38],"as":[39],"high-level":[40],"planning":[41],"mapping.":[43],"We":[44,70],"present":[45,71,83],"hardware":[47],"software":[49,59],"framework":[50,125],"for":[51,60,77,93,139],"aerial":[54],"robot,":[55],"in":[56,68,134,141],"which":[57],"all":[58],"autonomy":[61],"can":[62],"run":[63],"onboard":[64],"the":[65],"drone,":[66],"implemented":[67],"Python.":[69],"Unscented":[73],"Kalman":[74],"Filter":[75],"(UKF)":[76],"accurate":[78],"state":[79],"estimation.":[80],"Next,":[81],"we":[82],"implementation":[85],"of":[86,101],"Monte":[87],"Carlo":[88],"(MC)":[89],"Localization":[90,95],"FastSLAM":[92],"Simultaneous":[94],"Mapping":[97],"(SLAM).":[98],"The":[99],"performance":[100],"UKF,":[102],"localization,":[103],"SLAM":[105],"tested":[107],"compared":[109],"ground":[111],"truth,":[112],"provided":[113],"by":[114],"motion-capture":[116],"system.":[117],"Our":[118],"evaluation":[119],"demonstrates":[120],"that":[121],"our":[122],"runs":[126],"quickly":[127],"accurately":[129],"on":[130],"Raspberry":[132],"Pi":[133],"Python,":[135],"making":[136],"ideal":[138],"use":[140],"settings.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2019-10-18T00:00:00"}
