{"paper":{"title":"Mission-level Robustness with Rapidly-deployed, Autonomous Aerial Vehicles by Carnegie Mellon Team Tartan at MBZIRC 2020","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Akshit Gandhi, Andrew Saba, Anish Bhattacharya, Karun Warrior, Kevin Zhang, Lukas Merkle, Oliver Kroemer, Rohan Tiwari, Sebastian Scherer, Stanley Winata","submitted_at":"2021-07-03T23:05:16Z","abstract_excerpt":"For robotic systems to succeed in high risk, real-world situations, they have to be quickly deployable and robust to environmental changes, under-performing hardware, and mission subtask failures. These robots are often designed to consider a single sequence of mission events, with complex algorithms lowering individual subtask failure rates under some critical constraints. Our approach utilizes common techniques in vision and control, and encodes robustness into mission structure through outcome monitoring and recovery strategies. In addition, our system infrastructure enables rapid deploymen"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2107.01507","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2107.01507/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}