Related papers: Animal-Inspired Agile Flight Using Optical Flow Se…
In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…
Advances in computer vision as well as increasingly widespread video-based behavioral monitoring have great potential for transforming how we study animal cognition and behavior. However, there is still a fairly large gap between the…
Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…
The ability for an autonomous agent or robot to track and identify potentially multiple objects in a dynamic environment is essential for many applications, such as automated surveillance, traffic monitoring, human-robot interaction, etc.…
Forests offer essential resources and services to humanity, yet preserving and restoring them presents challenges, particularly due to the limited availability of actionable data, especially in hard-to-reach areas like forest canopies.…
Optimal transport (OT) and Schr{\"o}dinger bridge (SB) problems have emerged as powerful frameworks for transferring probability distributions with minimal cost. However, existing approaches typically focus on endpoint matching while…
Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…
Turbulent winds and gusts fluctuate on a wide range of timescales from milliseconds to minutes and longer, a range that overlaps the timescales of avian flight behavior, yet the importance of turbulence to avian behavior is unclear. By…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
Event cameras are novel bio-inspired vision sensors that measure pixel-wise brightness changes asynchronously instead of images at a given frame rate. They offer promising advantages, namely a high dynamic range, low latency, and minimal…
Safe road crossing by autonomous wheelchairs can be affected by several environmental factors such as adverse weather conditions influencing the accuracy of artificial vision. Previous studies have addressed experimental evaluation of…
The natural wind environment that volant insects encounter is unsteady and highly complex, posing significant flight control and stability challenges. Unsteady airflows can range from structured chains of discrete vortices shed in the wake…
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats are known for their pronounced, fast wing articulations,…
We present a framework to use recently introduced Capsule Networks for solving the problem of Optical Flow, one of the fundamental computer vision tasks. Most of the existing state of the art deep architectures either uses a correlation…
Learning-based controllers have achieved impressive performance in agile quadrotor flight but typically rely on massive training in simulation, necessitating accurate system identification for effective Sim2Real transfer. However, even with…
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…
Through multi-agent competition and the sparse high-level objective of winning a race, we find that both agile flight (e.g., high-speed motion pushing the platform to its physical limits) and strategy (e.g., overtaking or blocking) emerge…
A commonly encountered problem is the tracking of a physical object, like a maneuvering ship, aircraft, land vehicle, spacecraft or animate creature carrying a wireless device. The sensor data is often limited and inaccurate observations of…
A pinned-free beam in axial fluid flow, subjected to feedback-based actuation at the pinned end, is investigated. The actuation may be a moment or a prescribed angle and it is proportional to the state (curvature, slope, or displacement) of…
Autonomous flight of pocket drones is challenging due to the severe limitations on on-board energy, sensing, and processing power. However, tiny drones have great potential as their small size allows maneuvering through narrow spaces while…