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Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
The synthesis of spatiotemporally coherent 4D content presents fundamental challenges in computer vision, requiring simultaneous modeling of high-fidelity spatial representations and physically plausible temporal dynamics. Current…
We present a system to capture video footage of human subjects in the real world. Our system leverages a quadrotor camera to automatically capture well-composed video of two subjects. Subjects are tracked in a large-scale outdoor…
Modeling scenes using video generation models has garnered growing research interest in recent years. However, most existing approaches rely on perspective video models that synthesize only limited observations of a scene, leading to issues…
Long-range temporal alignment is critical yet challenging for video restoration tasks. Recently, some works attempt to divide the long-range alignment into several sub-alignments and handle them progressively. Although this operation is…
In this work, a novel, end-to-end motion planning method is proposed for quadrotor navigation in cluttered environments. The proposed method circumvents the explicit sensing-reconstructing-planning in contrast to conventional navigation…
The problem of robust extraction of visual odometry from a sequence of images obtained by an eye in hand camera configuration is addressed. A novel approach toward solving planar template based tracking is proposed which performs a…
Aerial cinematography is significantly expanding the capabilities of film-makers. Recent progress in autonomous unmanned aerial vehicles (UAVs) has further increased the potential impact of aerial cameras, with systems that can safely track…
This paper develops a robust optimization based method to design orbits on which the sensory perception of the desired physical quantities are maximized. It also demonstrates how to incorporate various constraints imposed by many spacecraft…
360{\deg} video provides an immersive experience for viewers, allowing them to freely explore the world by turning their head. However, creating high-quality 360{\deg} video content can be challenging, as viewers may miss important events…
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…
While camera and LiDAR are widely used in most of the assisted and autonomous driving systems, only a few works have been proposed to associate the temporal synchronization and extrinsic calibration for camera and LiDAR which are dedicated…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…
Unmanned Aerial Vehicles (UAVs) are poised to revolutionize communications. Utilizing their flexibility and fast deployment, we can deliver content in congested areas or provide services in areas without infrastructure. In this paper, we…
In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…