K
Ke Sun
Researcher at University of Pennsylvania
Publications - 42
Citations - 1174
Ke Sun is an academic researcher from University of Pennsylvania. The author has contributed to research in topics: Mobile robot & Engineering. The author has an hindex of 10, co-authored 25 publications receiving 709 citations. Previous affiliations of Ke Sun include Carnegie Mellon University.
Papers
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Journal ArticleDOI
Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments
Sikang Liu,Michael Watterson,Kartik Mohta,Ke Sun,Subhrajit Bhattacharya,Camillo J. Taylor,Vijay Kumar +6 more
TL;DR: This work proposes a method to formulate trajectory generation as a quadratic program (QP) using the concept of a Safe Flight Corridor (SFC), a collection of convex overlapping polyhedra that models free space and provides a connected path from the robot to the goal position.
Journal ArticleDOI
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
Ke Sun,Kartik Mohta,Bernd G. Pfrommer,Michael Watterson,Sikang Liu,Yash Mulgaonkar,Camillo J. Taylor,Vijay Kumar +7 more
TL;DR: Kumar et al. as mentioned in this paper presented a filter-based stereo visual inertial odometry that uses the multistate constraint Kalman filter, which is comparable to state-of-the-art monocular solutions in terms of computational cost.
Journal ArticleDOI
Fast, autonomous flight in GPS-denied and cluttered environments
Kartik Mohta,Michael Watterson,Yash Mulgaonkar,Sikang Liu,Chao Qu,Anurag Makineni,Kelsey Saulnier,Ke Sun,Alex Zihao Zhu,Jeffrey A. Delmerico,Konstantinos Karydis,Nikolay Atanasov,Giuseppe Loianno,Davide Scaramuzza,Kostas Daniilidis,Camillo J. Taylor,Vijay Kumar +16 more
TL;DR: The system design and software architecture of the proposed solution are described and how all the distinct components can be integrated to enable smooth robot operation are showcased.
Journal ArticleDOI
Fast, Autonomous Flight in GPS-Denied and Cluttered Environments
Kartik Mohta,Michael Watterson,Yash Mulgaonkar,Sikang Liu,Chao Qu,Anurag Makineni,Kelsey Saulnier,Ke Sun,Alex Zihao Zhu,Jeffrey A. Delmerico,Konstantinos Karydis,Nikolay Atanasov,Giuseppe Loianno,Davide Scaramuzza,Kostas Daniilidis,Camillo J. Taylor,Vijay Kumar +16 more
TL;DR: In this paper, a system design and software architecture for a flying robot to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment is presented.
Posted Content
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
Ke Sun,Kartik Mohta,Bernd G. Pfrommer,Michael Watterson,Sikang Liu,Yash Mulgaonkar,Camillo J. Taylor,Vijay Kumar +7 more
TL;DR: It is demonstrated that the stereo multistate constraint Kalman filter (S-MSCKF) is comparable to state-of-the-art monocular solutions in terms of computational cost, while providing significantly greater robustness.