Related papers: Animal-Inspired Agile Flight Using Optical Flow Se…
Autonomous micro aerial vehicles still struggle with fast and agile maneuvers, dynamic environments, imperfect sensing, and state estimation drift. Autonomous drone racing brings these challenges to the fore. Human pilots can fly a…
In this paper, we propose a control law for camera-equipped drone networks to pursue a target rigid body with unknown motion based on distributed Gaussian process. First, we consider the situation where each drone has its own dataset, and…
In the field of computer vision, a crucial task is the detection of motion (also called optical flow extraction). This operation allows analysis such as 3D reconstruction, feature tracking, time-to-collision and novelty detection among…
Speed fluctuations of individual birds in natural flocks are moderate, due to the aerodynamic and biomechanical constraints of flight. Yet the spatial correlations of such fluctuations are scale-free, namely they have a range as wide as the…
The ability of predicting the future is important for intelligent systems, e.g. autonomous vehicles and robots to plan early and make decisions accordingly. Future scene parsing and optical flow estimation are two key tasks that help agents…
Aerial wildlife tracking is critical for conservation efforts and relies on detecting small objects on the ground below the aircraft. It presents technical challenges: crewed aircraft are expensive, risky and disruptive; autonomous drones…
Understanding airflow around a drone is critical for performing advanced maneuvers while maintaining flight stability. Recent research has worked to understand this flow by employing 2D and 3D flow sensors to measure flow from a single…
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…
Studies of social and group behavior in interacting organisms require high-throughput analysis of the motion of a large number of individual subjects. Computer vision techniques offer solutions to specific tracking problems, and allow…
Dynamic soaring allows seabirds to harvest mechanical energy from vertical wind shear, but field trajectories lack a benchmark for comparing flight performances across species. We derive a reduced lower bound on transport effort from a…
Flocks of birds exhibit a remarkable degree of coordination and collective response. It is not just that thousands of individuals fly, on average, in the same direction and at the same speed, but that even the fluctuations around the mean…
Finding food is a fundamental activity for survival of all living organisms. Free-ranging dogs have been known to use their olfaction to assess the quality and type of available food but their use of visual ability in foraging is not…
Various methods to automate traffic data collection have recently been developed by many researchers. A macroscopic data collection through image processing has been proposed. For microscopic traffic flow data, such as individual speed and…
For a general class of translationally invariant systems with a specific category of nonlinearity in the output, this paper presents necessary and sufficient conditions for global observability. Critically, this class of systems cannot be…
In the past decade, a small corner of the fly's visual system has become an important testing ground for ideas about coding and computation in the nervous system. A number of results demonstrate that this system operates with a precision…
Protecting and restoring forest ecosystems has become an important conservation issue. Although various robots have been used for field data collection to protect forest ecosystems, the complex terrain and dense canopy make the data…
The optical flow of natural scenes is a combination of the motion of the observer and the independent motion of objects. Existing algorithms typically focus on either recovering motion and structure under the assumption of a purely static…
Interpreting motion captured in image sequences is crucial for a wide range of computer vision applications. Typical estimation approaches include optical flow (OF), which approximates the apparent motion instantaneously in a scene, and…
Drones are conventionally controlled using joysticks, remote controllers, mobile applications, and embedded computers. A few significant issues with these approaches are that drone control is limited by the range of electromagnetic…
The study of motion in animals and robots has been aided by insights from geometric mechanics. In friction dominated systems, a mechanical "connection" can provide a high fidelity mechanical model. The connection is a co-vector (Lie…