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Meeting	ACGS Committee Meeting 124 - Williamsburg, VA - October 2019
Agenda Location	8 SUBCOMMITTEE C – AVIONICS AND SYSTEM INTEGRATION 8.2 DARPA Fast Lightweight Autonomy Program Recap – Draper/MIT
Title	DARPA Fast Lightweight Autonomy Program Recap – Draper/MIT
Presenter	Ted Steiner and Julius Rose
Affiliation	Draper
Available Downloads*	presentation
	Downloads are available to members who are logged in and either Active* or attended this meeting.
Abstract	The DARPA Fast Lightweight Autonomy program developed perception and autonomy technologies for high-speed autonomous navigation through unmapped, GPS-denied, and cluttered environments with hobby-grade UAVs. Draper and MIT partnered together as one of the three teams performing on the program, with an approach focused on learning and prediction-enabled reactive flight. During the program, Team Draper/MIT demonstrated operator-free and GPS-denied flight at up to 10 m/s through clutter and over flight distances exceeding 1 km. This talk describes Team Draper/MIT’s approach and achievements during the FLA program, as well as the novel algorithms developed to address the challenges of state estimation, semantic object mapping, obstacle detection, and motion planning while flying fast through clutter.