The Resilient Intelligent Systems Lab (RISLab) is part of Carnegie Mellon University’s Robotics Institute. The lab, led by Co-Directors Nathan Michael and Wennie Tabib, is focused on improving the performance and reliability of autonomous systems.
This research program develops a method for cave surveying in complete darkness with an autonomous aerial vehicle equipped with a depth camera for mapping, downward-facing camera for state estimation, and forward and downward lights.
This research develops an efficient method for fitting meshlet primitives to RGB-D data that achieves high geometric fidelity with minimal overlap, such that the spatial density of primitives is significantly reduced compared to surfels.
This research seeks to design control strategies that enable quadrotors to track aggressive trajectories precisely and accurately in the presence of external disturbances, unmodeled dynamics, and degraded state estimation.