Related papers: Vector Field Guided Path Following Control: Singul…
The success of intelligent robotic missions relies on integrating various research tasks, each demanding distinct representations. Designing task-specific representations for each task is costly and impractical. Unified representations…
Remotely operated vehicles (ROVs) have drawn much attention to underwater tasks, such as the inspection and maintenance of infrastructure. The workload of ROV operators tends to be high, even for the skilled ones. Therefore, assistance…
This paper addresses the problem of navigation using only relative direction measurements (i.e., relative distances are unknown) under field of view constraints. We present a novel navigation vector field for the bearing-based visual homing…
An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving…
Segmentation-based autonomous navigation has recently been presented as an appealing approach to guiding robotic platforms through crop rows without requiring perfect GPS localization. Nevertheless, current techniques are restricted to…
Autonomous and safe navigation of tractor-trailer systems requires accurate, real-time collision avoidance and dynamically feasible control, particularly in cluttered and complex agricultural environments. This is challenging due to their…
In extreme environments such as underwater exploration and post-disaster rescue, tethered robots require continuous navigation while avoiding cable entanglement. Traditional planners struggle in these lifelong planning scenarios due to…
Recently, lane detection has made great progress with the rapid development of deep neural networks and autonomous driving. However, there exist three mainly problems including characterizing lanes, modeling the structural relationship…
Traditional methods for autonomous driving are implemented with many building blocks from perception, planning and control, making them difficult to generalize to varied scenarios due to complex assumptions and interdependencies. Recently,…
Concurrent processing of multiple autonomous driving 3D perception tasks within the same spatiotemporal scene poses a significant challenge, in particular due to the computational inefficiencies and feature competition between tasks when…
Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…
This paper proposes a distributed guiding-vector-field (DGVF) controller for cross-domain unmanned systems (CDUSs) consisting of heterogeneous unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs), to achieve coordinated…
In multi UAV scenarios,the traditional Artificial Potential Field (APF) method often leads to redundant flight paths and frequent abrupt heading changes due to unreasonable obstacle avoidance path planning,and is highly prone to inter UAV…
Differentiable vector graphics have enabled powerful gradient-based optimization of vector primitives directly from raster images. However, existing frameworks formulate this as a flat optimization problem, forcing hundreds to thousands of…
We propose BEV-Patch-PF, a GPS-free sequential geo-localization system that integrates a particle filter with learned bird's-eye-view (BEV) and aerial feature maps. From onboard RGB and depth images, we construct a BEV feature map. For each…
Deep learning methods have revolutionized mobile robotics, from advanced perception models for an enhanced situational awareness to novel control approaches through reinforcement learning. This paper explores the potential of federated…
We propose a new proximal, path-following framework for a class of constrained convex problems. We consider settings where the nonlinear---and possibly non-smooth---objective part is endowed with a proximity operator, and the constraint set…
Trajectory generation for quadrotors with limited field-of-view sensors has numerous applications such as aerial exploration, coverage, inspection, videography, and target tracking. Most previous works simplify the task of optimizing yaw…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Trajectory similarity search plays an essential role in autonomous driving, as it enables vehicles to analyze the information and characteristics of different trajectories to make informed decisions and navigate safely in dynamic…