Brady Moon

Sourish Ghosh, Jay Patrikar, Brady Moon et al.

Detect-and-Avoid (DAA) capabilities are critical for safe operations of unmanned aircraft systems (UAS). This paper introduces, AirTrack, a real-time vision-only detect and tracking framework that respects the size, weight, and power (SWaP) constraints of sUAS systems. Given the low Signal-to-Noise ratios (SNR) of far away aircraft, we propose using full resolution images in a deep learning framework that aligns successive images to remove ego-motion. The aligned images are then used downstream in cascaded primary and secondary classifiers to improve detection and tracking performance on multiple metrics. We show that AirTrack outperforms state-of-the art baselines on the Amazon Airborne Object Tracking (AOT) Dataset. Multiple real world flight tests with a Cessna 182 interacting with general aviation traffic and additional near-collision flight tests with a Bell helicopter flying towards a UAS in a controlled setting showcase that the proposed approach satisfies the newly introduced ASTM F3442/F3442M standard for DAA. Empirical evaluations show that our system has a probability of track of more than 95% up to a range of 700m. Video available at https://youtu.be/H3lL_Wjxjpw .

Brady Moon, Nayana Suvarna, Andrew Jong et al.

Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collection, informative path planning must be computed online and be responsive to new observations. In this work, we present IA-TIGRIS (Incremental and Adaptive Tree-based Information Gathering Using Informed Sampling), which is an incremental and adaptive sampling-based informative path planner designed for real-time onboard execution. Our approach leverages past planning efforts through incremental refinement while continuously adapting to updated belief maps. We additionally present detailed implementation and optimization insights to facilitate real-world deployment, along with an array of reward functions tailored to specific missions and behaviors. Extensive simulation results demonstrate IA-TIGRIS generates higher-quality paths compared to baseline methods. We validate our planner on two distinct hardware platforms: a hexarotor unmanned aerial vehicle (UAV) and a fixed-wing UAV, each having different motion models and configuration spaces. Our results show up to a 38% improvement in information gain compared to baseline methods, highlighting the planner's potential for deployment in real-world applications. Project website: https://ia-tigris.github.io

Cherie Ho, Seungchan Kim, Brady Moon et al.

Exploration is a critical challenge in robotics, centered on understanding unknown environments. In this work, we focus on robots exploring structured indoor environments which are often predictable and composed of repeating patterns. Most existing approaches, such as conventional frontier approaches, have difficulty leveraging the predictability and explore with simple heuristics such as `closest first'. Recent works use deep learning techniques to predict unknown regions of the map, using these predictions for information gain calculation. However, these approaches are often sensitive to the predicted map quality or do not reason over sensor coverage. To overcome these issues, our key insight is to jointly reason over what the robot can observe and its uncertainty to calculate probabilistic information gain. We introduce MapEx, a new exploration framework that uses predicted maps to form probabilistic sensor model for information gain estimation. MapEx generates multiple predicted maps based on observed information, and takes into consideration both the computed variances of predicted maps and estimated visible area to estimate the information gain of a given viewpoint. Experiments on the real-world KTH dataset showed on average 12.4% improvement than representative map-prediction based exploration and 25.4% improvement than nearest frontier approach. Website: mapex-explorer.github.io

Seungchan Kim, Seungjae Baek, Micah Corah et al.

We address Multi-Robot Exploration and Relaying (MRER): a team of robots must explore an unknown environment and deliver acquired information to a fixed base station within a mission time limit. The central challenge is deciding when each robot should stop exploring and relay: this depends on what the robot is likely to find ahead, what information it uniquely holds, and whether immediate or future delivery is more valuable. Prior approaches either ignore the reporting requirement entirely or rely on fixed-schedule relay strategies that cannot adapt to environment structure, team composition, or mission progress. We introduce PRoID (Predicted Rate of Information Delivery), a relay criterion that uses learned map prediction to estimate each robot's future information gain along its planned path, accounting for what teammates are already relaying. PRoID triggers relay when immediate return yields higher information delivery per unit time. We further propose PRoID-Safe, a failure-aware extension that incorporates robot survival probability into the relay criterion, naturally biasing decisions toward earlier relay as failure risk grows. We evaluate on real-world indoor floor plan datasets and show that PRoID and PRoID-Safe outperform fixed-schedule baselines, with stronger relative gains in failure scenarios.

Andrew Jong, Mukai Yu, Devansh Dhrafani et al. · cmu

We present the Wildland-fire Infrared Thermal (WIT-UAS) dataset for long-wave infrared sensing of crew and vehicle assets amidst prescribed wildland fire environments. While such a dataset is crucial for safety monitoring in wildland fire applications, to the authors' awareness, no such dataset focusing on assets near fire is publicly available. Presumably, this is due to the barrier to entry of collaborating with fire management personnel. We present two related data subsets: WIT-UAS-ROS consists of full ROS bag files containing sensor and robot data of UAS flight over the fire, and WIT-UAS-Image contains hand-labeled long-wave infrared (LWIR) images extracted from WIT-UAS-ROS. Our dataset is the first to focus on asset detection in a wildland fire environment. We show that thermal detection models trained without fire data frequently detect false positives by classifying fire as people. By adding our dataset to training, we show that the false positive rate is reduced significantly. Yet asset detection in wildland fire environments is still significantly more challenging than detection in urban environments, due to dense obscuring trees, greater heat variation, and overbearing thermal signal of the fire. We publicize this dataset to encourage the community to study more advanced models to tackle this challenging environment. The dataset, code and pretrained models are available at \url{https://github.com/castacks/WIT-UAS-Dataset}.

Jay Patrikar, Joao Dantas, Brady Moon et al.

We introduce TartanAviation, an open-source multi-modal dataset focused on terminal-area airspace operations. TartanAviation provides a holistic view of the airport environment by concurrently collecting image, speech, and ADS-B trajectory data using setups installed inside airport boundaries. The datasets were collected at both towered and non-towered airfields across multiple months to capture diversity in aircraft operations, seasons, aircraft types, and weather conditions. In total, TartanAviation provides 3.1M images, 3374 hours of Air Traffic Control speech data, and 661 days of ADS-B trajectory data. The data was filtered, processed, and validated to create a curated dataset. In addition to the dataset, we also open-source the code-base used to collect and pre-process the dataset, further enhancing accessibility and usability. We believe this dataset has many potential use cases and would be particularly vital in allowing AI and machine learning technologies to be integrated into air traffic control systems and advance the adoption of autonomous aircraft in the airspace.

Jay Patrikar, Brady Moon, Jean Oh et al.

Pilots operating aircraft in un-towered airspace rely on their situational awareness and prior knowledge to predict the future trajectories of other agents. These predictions are conditioned on the past trajectories of other agents, agent-agent social interactions and environmental context such as airport location and weather. This paper provides a dataset, $\textit{TrajAir}$, that captures this behaviour in a non-towered terminal airspace around a regional airport. We also present a baseline socially-aware trajectory prediction algorithm, $\textit{TrajAirNet}$, that uses the dataset to predict the trajectories of all agents. The dataset is collected for 111 days over 8 months and contains ADS-B transponder data along with the corresponding METAR weather data. The data is processed to be used as a benchmark with other publicly available social navigation datasets. To the best of authors' knowledge, this is the first 3D social aerial navigation dataset thus introducing social navigation for autonomous aviation. $\textit{TrajAirNet}$ combines state-of-the-art modules in social navigation to provide predictions in a static environment with a dynamic context. Both the $\textit{TrajAir}$ dataset and $\textit{TrajAirNet}$ prediction algorithm are open-source. The dataset, codebase, and video are available at https://theairlab.org/trajair/, https://github.com/castacks/trajairnet, and https://youtu.be/elAQXrxB2gw respectively.

Parv Kapoor, Ian Higgins, Nikhil Keetha et al.

Assured safe-separation is essential for achieving seamless high-density operation of airborne vehicles in a shared airspace. To equip resource-constrained aerial systems with this safety-critical capability, we present ViSafe, a high-speed vision-only airborne collision avoidance system. ViSafe offers a full-stack solution to the Detect and Avoid (DAA) problem by tightly integrating a learning-based edge-AI framework with a custom multi-camera hardware prototype designed under SWaP-C constraints. By leveraging perceptual input-focused control barrier functions (CBF) to design, encode, and enforce safety thresholds, ViSafe can provide provably safe runtime guarantees for self-separation in high-speed aerial operations. We evaluate ViSafe's performance through an extensive test campaign involving both simulated digital twins and real-world flight scenarios. By independently varying agent types, closure rates, interaction geometries, and environmental conditions (e.g., weather and lighting), we demonstrate that ViSafe consistently ensures self-separation across diverse scenarios. In first-of-its-kind real-world high-speed collision avoidance tests with closure rates reaching 144 km/h, ViSafe sets a new benchmark for vision-only autonomous collision avoidance, establishing a new standard for safety in high-speed aerial navigation.

Arnav Choudhry, Brady Moon, Jay Patrikar et al.

Energy management is a critical aspect of risk assessment for Uncrewed Aerial Vehicle (UAV) flights, as a depleted battery during a flight brings almost guaranteed vehicle damage and a high risk of human injuries or property damage. Predicting the amount of energy a flight will consume is challenging as routing, weather, obstacles, and other factors affect the overall consumption. We develop a deep energy model for a UAV that uses Temporal Convolutional Networks to capture the time varying features while incorporating static contextual information. Our energy model is trained on a real world dataset and does not require segregating flights into regimes. We illustrate an improvement in power predictions by $29\%$ on test flights when compared to a state-of-the-art analytical method. Using the energy model, we can predict the energy usage for a given trajectory and evaluate the risk of running out of battery during flight. We propose using Conditional Value-at-Risk (CVaR) as a metric for quantifying this risk. We show that CVaR captures the risk associated with worst-case energy consumption on a nominal path by transforming the output distribution of Monte Carlo forward simulations into a risk space. Computing the CVaR on the risk-space distribution provides a metric that can evaluate the overall risk of a flight before take-off. Our energy model and risk evaluation method can improve flight safety and evaluate the coverage area from a proposed takeoff location. The video and codebase are available at https://youtu.be/PHXGigqilOA and https://git.io/cvar-risk .

Thiago A. Rodrigues, Jay Patrikar, Arnav Choudhry et al.

We autonomously direct a small quadcopter package delivery Uncrewed Aerial Vehicle (UAV) or "drone" to take off, fly a specified route, and land for a total of 209 flights while varying a set of operational parameters. The vehicle was equipped with onboard sensors, including GPS, IMU, voltage and current sensors, and an ultrasonic anemometer, to collect high-resolution data on the inertial states, wind speed, and power consumption. Operational parameters, such as commanded ground speed, payload, and cruise altitude, are varied for each flight. This large data set has a total flight time of 10 hours and 45 minutes and was collected from April to October of 2019 covering a total distance of approximately 65 kilometers. The data collected were validated by comparing flights with similar operational parameters. We believe these data will be of great interest to the research and industrial communities, who can use the data to improve UAV designs, safety, and energy efficiency, as well as advance the physical understanding of in-flight operations for package delivery drones.