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.
News
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September 15, 2021
Article Accepted to IEEE Transactions on Robotics
Wennie’s journal article on autonomous cave surveying with an aerial robot was accepted to IEEE Transactions on Robotics. A link to the article may be found here.
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September 07, 2021
Cormac O'Meadhra Successfully Completes PhD Proposal
Cormac successfully completed his PhD proposal today. Congratulations, Cormac!
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August 04, 2021
Arjav Desai Defends His PhD Thesis
Arjav successfully defended his PhD thesis today. Congratulations, Arjav!
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Research
Autonomous Cave Surveying
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.
Meshlet Primitives for Dense RGB-D SLAM in Dynamic Environments
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.
Dynamical Model Learning and Inversion for Aggressive Quadrotor Flight
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.
