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This document introduces the bridge between the leading inertial motion-capture systems for 3D human tracking and the most used robotics software framework. 3D kinematic data provided by Xsens are translated into ROS messages to make them…
Roborobo! is a multi-platform, highly portable, robot simulator for large-scale collective robotics experiments. Roborobo! is coded in C++, and follows the KISS guideline ("Keep it simple"). Therefore, its external dependency is solely…
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…
This article presents an analysis of current state-of-the-art sensors and how these sensors work with several mapping algorithms for UAV (Unmanned Aerial Vehicle) applications, focusing on low-altitude and high-speed scenarios. A new…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
Cellular-connected UAV systems have enabled a wide range of low-altitude aerial services. However, these systems still face many challenges, such as frequent handovers and the inefficiency of traditional transport protocols. To better study…
This paper describes the experience of preparing and testing the SPARUS II AUV in different applications. The AUV was designed as a lightweight vehicle combining the classical torpedo-shape features with the hovering capability. The robot…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…
Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…
ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to…
Civilian Unmanned Aerial Vehicles (UAVs) are becoming more accessible for domestic use. Currently, UAV manufacturer DJI dominates the market, and their drones have been used for a wide range of applications. Model lines such as the Phantom…
Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…
Autonomous drone racing has risen as a challenging robotic benchmark for testing the limits of learning, perception, planning, and control. Expert human pilots are able to fly a drone through a race track by mapping pixels from a single…