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We present the Robotics Intelligent Systems & Control (RISC) Lab multiagent testbed for reliable search and rescue and aerial transport in outdoor environments. The system consists of a team of three multirotor unmanned aerial vehicles…
The antiProton Unstable Matter Annihilation experiment (PUMA) at CERN aims at investigating the nucleon composition in the matter density tail of radioactive as well as stable isotopes by use of low-energy antiproton-nucleon annihilation…
Many countries in the world are contaminated with landmines. Several thousand casualties occur every year. Although there are certain types of mines that can be detected from a safe stand-off position with tools, humanitarian demining is…
Accurate Time-of-Flight (TOF) measurement with sub-100 picosecond resolution is a critical requirement for particle identification in future high-energy physics experiments, such as the Belle II $K_{L}$ and Muon (KLM) detector upgrade.…
Gamma-ray Transient Monitor (GTM) is an all-sky monitor onboard the Distant Retrograde Orbit-A (DRO-A) satellite with the scientific objective of detecting gamma-ray transients ranging from 20 keV to 1 MeV. GTM is equipped with 5 Gamma-ray…
We describe a single fingertip-mounted sensing system for robot manipulation that provides proximity (pre-touch), contact detection (touch), and force sensing (post-touch). The sensor system consists of optical time-of-flight range…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…
One of the possible ways to maintain the micrometer spatial resolution while performing ion beam analysis in the air is to increase the energy of ions. In order to explore capabilities and limitations of this approach, we have tested a…
We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by…
Atom interferometry has become one of the most powerful technologies for precision measurements. To develop simple, precise, and versatile atom interferometers for inertial sensing, we demonstrate an atom interferometer measuring…
We present the results of the first high-altitude balloon flight test of a concept for an advanced Compton telescope making use of modern scintillator materials with silicon photomultiplier (SiPM) readouts. There is a need in the fields of…
The General AntiParticle Spectrometer experiment (GAPS) is foreseen to carry out a dark matter search using low-energy cosmic ray antideuterons at stratospheric altitudes with a novel detection approach. A prototype flight from Taiki, Japan…
Integrated sensing and communication (ISAC) boosts network efficiency by using existing resources for diverse sensing applications. In this work, we propose a cell-free massive MIMO (multiple-input multiple-output)-ISAC framework to detect…
Stratospheric High Altitude Balloons (HABs) have great potential as a remote sensing platform for Earth Observations that complements orbiting satellites and low flying drones. At altitudes between 20-35 kms, HABs operate significantly…
In order to clear the world of the threat posed by landmines and other explosive devices, robotic systems can play an important role. However, the development of such field robots that need to operate in hazardous conditions requires the…
We present RAPPIDS: a novel collision checking and planning algorithm for multicopters that is capable of quickly finding local collision-free trajectories given a single depth image from an onboard camera. The primary contribution of this…
In this work uses innovative multi-channel load-sensing techniques to deploy unmanned aerial vehicles (UAVs) for surveillance. The research aims to improve the quality of data transmission methods and improve the efficiency and reliability…
Gravimeters are devices which measure changes in the value of the gravitational acceleration, \textit{g}. This information is used to infer changes in density under the ground allowing the detection of subsurface voids; mineral, oil and gas…
Tracking maneuvering targets requires estimators that are both responsive and robust. Interacting Multiple Model (IMM) filters are a standard tracking approach, but fusing models via Gaussian mixtures can lag during maneuvers. Recent…
Atmospheric correction is a fundamental task in remote sensing because observations are taken either of the atmosphere or looking through the atmosphere. Atmospheric correction errors can significantly alter the spectral signature of the…