Advancing autonomous UAVs to navigate and respond safely in smoke-filled wildfire environments
In the rapidly advancing world of autonomous robotics, few challenges are as important, or as demanding, as deploying drones in wildfire and disaster zones. At the forefront of this mission is Tyler Harp CMU, a robotics engineer at Carnegie Mellon University, whose cutting-edge research focuses on aerial perception, mapping, and localization. From creating innovative stereo-thermal imaging datasets to developing real-time algorithms for detecting power lines, Harp’s work embodies a larger goal: crafting UAV systems that can navigate safely and intelligently through some of the most hazardous environments on the planet.
Facts About Tyler Harp CMU
| Facts | Details |
| Full Name | Tyler Harp |
| Affiliation | Carnegie Mellon University (CMU) |
| Current Program | Master of Science in Robotics (MSR) |
| School | School of Computer Science, CMU |
| Undergraduate Degree | B.S. in Mechanical Engineering (Robotics minor), CMU |
| Research Lab | AirLab (Autonomous Systems Lab), Robotics Institute |
| Faculty Advisor | Sebastian Scherer |
| Research Focus | 3D Mapping, Localization, SLAM, UAV Perception, Autonomous Navigation |
| Key Application Area | Wildfire response and disaster robotics |
| Major Publication | FIReStereo Dataset (IEEE Robotics and Automation Letters, 2025) |
| Thesis Title | “Vision-Based Multi-Wire Detection and Tracking for UAV Wire Approach” |
| Thesis Publication | CMU Technical Report (CMU-RI-TR-25-100), December 2025 |
| Technical Contributions | Stereo-thermal imaging dataset; real-time UAV wire detection algorithm |
| FAA Certification | FAA Part 107 Drone Pilot License (2025) |
| Industry Experience | Robotics Software Engineering Intern at Symbotic |
| Research Themes | Autonomous drones in degraded environments, resilient autonomy, sensor fusion |
| Extracurricular Interests | Soccer, skiing, team sports |
| Career Outlook | Autonomous systems engineering, aerial robotics research, disaster-response robotics |
Academic Foundation at Carnegie Mellon University
Tyler Harp began his academic journey at Carnegie Mellon University, earning a Bachelor of Science in Mechanical Engineering with a minor in Robotics. His undergraduate years laid a strong interdisciplinary foundation, blending mechanical systems, control theory, computer vision, and artificial intelligence.
Currently, Harp is pursuing a Master of Science in Robotics (MSR) within CMU’s School of Computer Science. The MSR program is internationally recognized for producing engineers capable of addressing the most complex challenges in autonomous systems. Harp’s progression from undergraduate to graduate study within the same institution reflects both academic distinction and research continuity.
His graduate work is conducted within CMU’s Robotics Institute, specifically in the AirLab (Autonomous Systems Lab), under the mentorship of Professor Sebastian Scherer. The lab focuses on developing perception, planning, and autonomy algorithms for aerial and ground robotic systems.
Research Focus: Mapping, Localization, and SLAM for UAVs
At the core of Tyler Harp CMU’s research lies a commitment to enabling drones to operate safely and autonomously in challenging environments.
His primary research interests include:
- 3D Mapping
- Localization
- SLAM (Simultaneous Localization and Mapping)
- Autonomous Navigation in Degraded Conditions
Autonomous aerial robots face unique perception challenges in forested, smoky, nighttime, or GPS-denied environments. Harp’s work addresses these constraints by combining computer vision, sensor fusion, and geometric reasoning to help UAVs “understand” their surroundings.
In particular, his research contributes to improving depth perception and obstacle detection when traditional visual cues are limited. This has significant implications for disaster response, infrastructure inspection, and wildfire monitoring.
The FIReStereo Dataset: Expanding UAV Perception Capabilities
One of Harp’s most notable contributions is his co-authorship of the FIReStereo dataset, published in 2025 in IEEE Robotics and Automation Letters.
The FIReStereo project introduces a large-scale stereo-thermal imaging dataset specifically designed for UAV navigation in visually degraded environments. The dataset includes over 200,000 synchronized stereo thermal image pairs, supported by LiDAR-based ground-truth depth measurements. It spans diverse scenarios:
- Urban and forest environments
- Day and night conditions
- Rain and smoke exposure
This dataset addresses a critical gap in aerial robotics research. Traditional depth estimation datasets often focus on clear weather and structured environments. FIReStereo, by contrast, reflects the unpredictable and hazardous conditions encountered in wildfire response.
As part of the AirLab team, Harp contributed to data collection, system design, and algorithmic evaluation. The dataset now serves as a valuable resource for researchers developing perception systems for autonomous drones in challenging environments.
Master’s Thesis: Vision-Based Multi-Wire Detection for UAVs
In December 2025, Tyler Harp completed his Master’s thesis titled:
“Vision-Based Multi-Wire Detection and Tracking for UAV Wire Approach.”
The thesis tackles a critical safety issue in drone operations: detecting thin powerlines and wires from a UAV’s perspective.
Powerlines are notoriously difficult for cameras to detect due to their thin structure, low contrast, and dynamic backgrounds. Yet, reliable detection is essential for:
- Infrastructure inspection
- Powerline maintenance
- Inductive charging systems
- Safe low-altitude navigation
Harp developed a real-time, camera-only algorithm capable of detecting and tracking multiple wires simultaneously. The system integrates classical image processing techniques with 3D geometric reasoning and filtering methods to ensure robustness across frames.
The result is a computationally efficient approach suitable for onboard deployment, enhancing UAV safety in proximity to critical infrastructure.
His thesis was published as a CMU technical report (CMU-RI-TR-25-100), adding to his portfolio of peer-reviewed and technical contributions.
Wildfire and Disaster Robotics Applications
A defining thread in the work of Tyler Harp CMU is its direct relevance to wildfire and disaster environments, settings where technology must perform under extreme uncertainty. As part of the Wildfire Project in the AirLab at Carnegie Mellon University, Harp contributes to efforts aimed at enabling unmanned aerial vehicles to operate where visibility is compromised and terrain is unpredictable.
In smoke-filled forests, traditional RGB cameras struggle to capture reliable visual data, while dense canopy can weaken or disrupt GPS signals. Rapidly shifting fire lines further complicate navigation, demanding systems that can adapt in real time. Harp’s research addresses these constraints by integrating stereo thermal imaging with advanced SLAM and localization strategies, allowing drones to map obscured terrain, navigate degraded visual environments, and maintain positional awareness despite limited sensory input.
FAA Certification and Field Deployment
To facilitate real-world testing, Harp obtained his FAA Part 107 drone pilot license in 2025. This certification enables him to legally conduct UAV flight operations for research purposes.
Field experiments are essential for validating autonomy algorithms outside laboratory conditions. By combining theoretical development with practical deployment, Harp ensures that his research translates into operational reliability.
Collaboration and Industry Experience
Robotics research is inherently collaborative, and Tyler Harp’s career reflects strong teamwork.
Under the guidance of Professor Sebastian Scherer, Harp has worked alongside fellow researchers in AirLab on datasets, autonomy algorithms, and workshop publications related to resilient navigation and multi-modal sensing.
In addition to academic research, Harp gained industry experience as a robotics software engineering intern at Symbotic, an automation company specializing in warehouse robotics. This internship provided hands-on exposure to autonomy software in commercial settings.
Athletic and Leadership Background
Beyond the laboratory, Tyler Harp’s background reflects a longstanding commitment to athletics. He played competitive soccer through high school and into his early college years, and he continues to pursue outdoor sports such as skiing.
That athletic experience has shaped more than his time off the field. Competitive sports demand coordination, strategic awareness, discipline, and resilience, qualities that translate naturally into engineering and research settings. The ability to perform under pressure and collaborate within a team environment mirrors the dynamics of advanced robotics labs.
In Harp’s case, these traits complement his technical expertise, reinforcing his capacity to contribute effectively within collaborative research teams and complex, high-stakes projects.
Conclusion
The story of Tyler Harp CMU is one of focused research, interdisciplinary expertise, and applied innovation. Through his work in mapping, localization, wildfire navigation, and infrastructure safety, he exemplifies how robotics research can move beyond theory and into meaningful real-world impact.
Within the dynamic research environment of Carnegie Mellon University’s Robotics Institute, Harp has developed both technical depth and collaborative experience. His contributions to datasets, algorithms, and UAV safety systems reflect a broader commitment to making autonomous systems more resilient and reliable.
As robotics continues to reshape industries and public safety operations, engineers like Tyler Harp represent the next generation of innovators, combining precision, practicality, and purpose in the evolving field of autonomous aerial systems.
