Related papers: Animal-Inspired Agile Flight Using Optical Flow Se…
Gesture interaction is a natural way of communicating with a robot as an alternative to speech. Gesture recognition methods leverage optical flow in order to understand human motion. However, while accurate optical flow estimation (i.e.,…
We study a model of flocking in order to describe the transitions during the collective motion of organisms in three dimensions (e.g., birds). In this model the particles representing the organisms are self-propelled, i.e., they move with…
Hybrid modeling aims to augment traditional theory-driven models with machine learning components that learn unknown parameters, sub-models or correction terms from data. In this work, we build on FluxRGNN, a recently developed hybrid model…
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…
This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…
Cells control fluid flows with a spatial and temporal precision that far exceeds the capabilities of current microfluidic technologies. Cells achieve this superior spatio-temporal control by harnessing dynamic networks of cytoskeleton and…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
Real-time moving object detection in unconstrained scenes is a difficult task due to dynamic background, changing foreground appearance and limited computational resource. In this paper, an optical flow based moving object detection…
This paper studies how global dynamics and knowledge of high-level features can inform decision-making for robots in flow-like environments. Specifically, we investigate how coherent sets, an environmental feature found in these…
The ability to rapidly focus attention and react to salient environmental features enables animals to move agiley through their habitats. To replicate this kind of high-performance control of movement in synthetic systems, we propose a new…
Automatic optimization of robotic behavior has been the long-standing goal of Evolutionary Robotics. Allowing the problem at hand to be solved by automation often leads to novel approaches and new insights. A common problem encountered with…
Both pedestrian and robot comfort are of the highest priority whenever a robot is placed in an environment containing human beings. In the case of pedestrian-unaware mobile robots this desire for safety leads to the freezing robot problem,…
Nature is an inhabitant for enormous number of species. All the species do perform complex activities with simple and elegant rules for their survival. The property of emergence of collective behavior is remarkably supporting their…
The vision-based relative localization can provide effective feedback for the cooperation of aerial swarm and has been widely investigated in previous works. However, the limited field of view (FOV) inherently restricts its performance. To…
The transportation of sensitive equipment often suffers from vibrations caused by terrain, weather, and motion speed, leading to inefficiencies and potential damage. To address this challenge, this paper explores an intelligent control…
The pursuit-evasion problem is widespread in nature, engineering, and societal applications. It is commonly observed in nature that predators often exhibit faster speeds than their prey but have less agile maneuverability. Over millions of…
Robust velocity and position estimation is crucial for autonomous robot navigation. The optical flow based methods for autonomous navigation have been receiving increasing attentions in tandem with the development of micro unmanned aerial…
Occlusion caused by vegetation is an essential problem for remote sensing applications in areas, such as search and rescue, wildfire detection, wildlife observation, surveillance, border control, and others. Airborne Optical Sectioning…
Trained human pilots or operators still stand out through their efficient, robust, and versatile skills in guidance tasks such as driving agile vehicles in spatial environments or performing complex surgeries. This research studies how…
Modern autonomous navigation systems predominantly rely on lidar and depth cameras. However, a fundamental question remains: Can flying robots navigate in clutter using solely monocular RGB images? Given the prohibitive costs of real-world…