Resilient Intelligent Systems Lab

Resilient autonomy and agile flight in complex, unstructured environments.

The Resilient Intelligent Systems Lab (RISLab) is part of Carnegie Mellon University’s Robotics Institute. The lab, led by Director Wennie Tabib, is focused on resilient autonomy and agile flight in complex, unstructured environments.

https://www.rislab.org

Research Topics

Displaying 17 Publications

2024

Communication-Efficient Active Reconstruction using Self-Organizing Gaussian Mixture Models

Kshitij Goel

PhD Thesis, Tech. Report, CMU-RI-TR-24-76, December, 2024

GIRA: Gaussian Mixture Models for Inference and Robot Autonomy

Kshitij Goel and Wennie Tabib

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2024

2023

Incremental Multimodal Surface Mapping via Self-Organizing Gaussian Mixture Models

Kshitij Goel and Wennie Tabib

Journal Article, IEEE Robotics and Automation Letters, October, 2023

Probabilistic Point Cloud Modeling via Self-Organizing Gaussian Mixture Models

Kshitij Goel, Nathan Michael, and Wennie Tabib

Journal Article, IEEE Robotics and Automation Letters, April, 2023

2022

Collaborative Human-Robot Exploration via Implicit Coordination

Yves Georgy Daoud, Kshitij Goel, Nathan Michael, and Wennie Tabib

Conference Paper, Proceedings of 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 80-86, November, 2022

Hierarchical Collision Avoidance for Adaptive-Speed Multirotor Teleoperation

Kshitij Goel, Yves Georgy Daoud, Nathan Michael, and Wennie Tabib

Conference Paper, Proceedings of 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 20-27, November, 2022

Human-in-the-loop Planning of Mobile Robots

Xuning Yang

PhD Thesis, Tech. Report, CMU-RI-TR-22-04, Robotics Institute, Carnegie Mellon University, January, 2022

2021

Dynamical Model Learning and Inversion for Aggressive Quadrotor Flight

Alexander Spitzer

PhD Thesis, Tech. Report, CMU-RI-TR-22-03, Robotics Institute, Carnegie Mellon University, December, 2021

Decentralized Navigation of Quadrotor Teams in Uncertain Workspaces

Arjav Ashesh Desai

PhD Thesis, Tech. Report, CMU-RI-TR-21-57, Robotics Institute, Carnegie Mellon University, August, 2021

Rapid Subsurface Exploration with Multiple Aerial Robots

Kshitij Goel

Master's Thesis, Tech. Report, CMU-RI-TR-21-23, Robotics Institute, Carnegie Mellon University, August, 2021

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