Related papers: Perception-aware time optimal path parameterizatio…
Quadrotors equipped with cable-suspended loads represent a versatile, low-cost, and energy efficient solution for aerial transportation, construction, and manipulation tasks. However, their real-world deployment is hindered by several…
Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…
We present a perception constrained visual predictive control (PCVPC) algorithm for quadrotors to enable aggressive flights without using any position information. Our framework leverages nonlinear model predictive control (NMPC) to…
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…
This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…
This paper introduces an emerging motion planning problem by considering a human that is immersed into the viewing perspective of a remote robot. The challenge is to make the experience both effective (such as delivering a sense of…
Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…
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…
The reliability of current autonomous driving systems is often jeopardized in situations when the vehicle's field-of-view is limited by nearby occluding objects. To mitigate this problem, vehicle-to-vehicle communication to share sensor…
We describe algorithms, and experimental strategies, for the Pareto optimal control problem of simultaneously driving an arbitrary number of quantum observable expectation values to their respective extrema. Conventional quantum optimal…
Like humans who rely on landmarks for orientation, autonomous robots depend on feature-rich environments for accurate localization. In this paper, we propose the GFM-Planner, a perception-aware trajectory planning framework based on the…
Autonomous vehicles are conceived to provide safe and secure services by validating the safety standards as indicated by SOTIF-ISO/PAS-21448 (Safety of the intended functionality). Keeping in this context, the perception of the environment…
This paper presents a novel method for controlling teams of unmanned aerial vehicles using Stochastic Optimal Control (SOC) theory. The approach consists of a centralized high-level planner that computes optimal state trajectories as…
Precise positioning and fast traversal times are crucial in achieving high productivity and scale in machining. This paper compares two optimization-based predictive control approaches that achieve high performance. In the first approach,…
Realistic path planning applications often require optimizing with respect to several criteria simultaneously. Here we introduce an efficient algorithm for bi-criteria path planning on graphs. Our approach is based on augmenting the state…
Most existing trackers based on discriminative correlation filters (DCF) try to introduce predefined regularization term to improve the learning of target objects, e.g., by suppressing background learning or by restricting change rate of…
Vision-based Transformer have shown huge application in the perception module of autonomous driving in terms of predicting accurate 3D bounding boxes, owing to their strong capability in modeling long-range dependencies between the visual…
Trajectory generation in dynamic environments presents a significant challenge for quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many existing methods either assume simplified static environments or…
Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…