{"145621":{"#nid":"145621","#data":{"type":"event","title":"Robotics and Intelligent Machines Center (RIM) Seminar-Nathan Michael","body":[{"value":"\u003Cp\u003EPlease note, the RIM Seminar on October 3 will be held in the\u0026nbsp;Manufacturing Research Center (MaRC) Auditorium\u0026nbsp;from 12-1 p.m.\u0026nbsp;Seminars are open to the public.\u003C\/p\u003E\u003Cp\u003ENathan Michael,\u0026nbsp;Research Assistant Professor in the Department of Mechanical Engineering and Applied Mechanics\u0026nbsp;at the University of Pennsylvania, presents\u0026nbsp;\u003Cem\u003EIndoor\/Outdoor Autonomous Navigation and 3D Exploration with a Quadrotor\u003C\/em\u003E.\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EAbstract\u003C\/strong\u003E\u003Cbr \/\u003EIn this talk, I will discuss approaches to state estimation and exploration with an autonomous quadrotor in indoor and outdoor environments. Quadrotors, and more generally micro-aerial vehicles, offer 3D mobility and observational capabilities that make them particularly applicable to search-and-rescue scenarios where the vehicle must navigate complex 3D environments for the purposes of mapping and inspection. During search-and-research scenarios in or near buildings, such as in response to an emergency or disaster, it may not be possible for a human to enter the environment and thus the vehicle must be able to access the location and operate autonomously without requiring high-level direction. This talk focuses on the addressing these requirements and will consist of three parts: (1) a brief overview of the necessary prerequisites to enable autonomous navigation with a quadrotor in multi-story indoor environments; (2) a state estimation approach that permits autonomous navigation in mixed indoor and outdoor environments; and (3) an algorithm for exploration in complex three-dimensional environments that is amenable to application on a quadrotor with payload constrained sensing and computational capabilities. I will present the details of the methodologies as well as experimental evaluations in relevant operational environments.\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EBio\u003C\/strong\u003E\u003Cbr \/\u003ENathan Michael recently joined the Robotics Institute at Carnegie Mellon University as an Assistant Research Professor. Prior to this appointment, he was a Research Assistant Professor in the Department of Mechanical Engineering at the University of Pennsylvania. After receiving a PhD from the Department of Mechanical Engineering at the University of Pennsylvania in 2008, he transitioned into a position on the Research Faculty in 2010. Michael\u0027s research interests include the topics of estimation and control for ground and aerial robots with extensions to multi-robot systems.\u003C\/p\u003E\u003Cp\u003E\u003Cbr \/\u003E\u003C\/p\u003E","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003EPlease note, the RIM seminar on October 3 will be held in the Manufacturing Research Center (MaRC) Auditorium\u0026nbsp;from 12-1 p.m.\u0026nbsp;Seminars are open to the public.\u0026nbsp;Nathan Michael,\u0026nbsp;Research Assistant Professor in the Department of Mechanical Engineering and Applied Mechanics\u0026nbsp;at the University of Pennsylvania, presents\u0026nbsp;\u003Cem\u003EIndoor\/Outdoor Autonomous Navigation and 3D Exploration with a Quadrotor\u003C\/em\u003E.\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"RIM presents its Fall 2012 Seminar Series."}],"uid":"27255","created_gmt":"2012-08-12 23:31:35","changed_gmt":"2016-10-08 01:59:24","author":"Josie Giles","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2012-10-03T13:00:00-04:00","event_time_end":"2012-10-03T14:00:00-04:00","event_time_end_last":"2012-10-03T14:00:00-04:00","gmt_time_start":"2012-10-03 17:00:00","gmt_time_end":"2012-10-03 18:00:00","gmt_time_end_last":"2012-10-03 18:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"hg_media":{"145561":{"id":"145561","type":"image","title":"Nathan Michael","body":null,"created":"1449178751","gmt_created":"2015-12-03 21:39:11","changed":"1475894779","gmt_changed":"2016-10-08 02:46:19","alt":"Nathan Michael","file":{"fid":"195062","name":"nathan_michael.jpg","image_path":"\/sites\/default\/files\/images\/nathan_michael_0.jpg","image_full_path":"http:\/\/www.tlwarc.hg.gatech.edu\/\/sites\/default\/files\/images\/nathan_michael_0.jpg","mime":"image\/jpeg","size":43615,"path_740":"http:\/\/www.tlwarc.hg.gatech.edu\/sites\/default\/files\/styles\/740xx_scale\/public\/images\/nathan_michael_0.jpg?itok=t9-eLMbF"}}},"media_ids":["145561"],"related_links":[{"url":"http:\/\/robotics.gatech.edu\/","title":"Center for Robotics \u0026 Intelligent Machines"},{"url":"https:\/\/fling.seas.upenn.edu\/~nmichael\/","title":"Nathan Michael"}],"groups":[{"id":"142761","name":"IRIM"}],"categories":[],"keywords":[{"id":"40321","name":"Robotics and Intelligent Machines Center (RIM)"},{"id":"2352","name":"robots"},{"id":"166896","name":"seminar"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1795","name":"Seminar\/Lecture\/Colloquium"}],"invited_audience":[],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[{"value":"\u003Cp\u003EJosie Giles\u003Cbr \/\u003ERIM Communications Officer\u003Cbr \/\u003E\u003Ca href=\u0022mailto:josie@gatech.edu\u0022\u003Ejosie@gatech.edu\u003C\/a\u003E\u003C\/p\u003E","format":"limited_html"}],"email":[],"slides":[],"orientation":[],"userdata":""}}}