Related papers: Visibility-aware Trajectory Optimization with Appl…
This paper presents a framework aimed at monitoring the behavior of aircraft in a given airspace. Nominal trajectories are determined and learned using data driven methods. Standard procedures are used by air traffic controllers (ATC) to…
Transformer-based models have improved visual tracking, but most still cannot run in real time on resource-limited devices, especially for unmanned aerial vehicle (UAV) tracking. To achieve a better balance between performance and…
This paper investigates applications of eye tracking in transport aircraft design evaluations. Piloted simulations were conducted for a complete flight profile including take off, cruise and landing flight scenario using the transport…
Visual Object Tracking (VOT) aims to estimate the positions of target objects in a video sequence, which is an important vision task with various real-world applications. Depending on whether the initial states of target objects are…
The classical setting of optimal control theory assumes full knowledge of the process dynamics and the costs associated with every control strategy. The problem becomes much harder if the controller only knows a finite set of possible…
Real-world physics can only be analytically modeled with a certain level of precision for modern intricate robotic systems. As a result, tracking aggressive trajectories accurately could be challenging due to the existence of residual…
Visual object tracking (VOT) plays a pivotal role in unmanned aerial vehicle (UAV) applications. Addressing the trade-off between accuracy and efficiency, especially under challenging conditions like unpredictable occlusion, remains a…
Computer vision has received a significant attention in recent year, which is one of the important parts for robots to obtain information about the external environment. Visual trackers can provide the necessary physical and environmental…
The main challenge of Multi-Object Tracking~(MOT) lies in maintaining a continuous trajectory for each target. Existing methods often learn reliable motion patterns to match the same target between adjacent frames and discriminative…
Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…
The resurgence of lunar operations requires advancements in cislunar navigation and Space Situational Awareness (SSA). Challenges associated to these tasks have created an interest in autonomous planning, navigation, and tracking…
This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…
Controller performance in quadrotor trajectory tracking depends heavily on parameter tuning, yet standard approaches often rely on fixed, manually tuned parameters that sacrifice task-specific performance. We present Trajectory-Aware…
Metrics on the space of sets of trajectories are important for scientists in the field of computer vision, machine learning, robotics, and general artificial intelligence. However, existing notions of closeness between sets of trajectories…
We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…
While recent work on online goal recognition efficiently infers goals under low observability, comparatively less work focuses on online goal recognition that works in both discrete and continuous domains. Online goal recognition approaches…
Open-Vocabulary Multi-Object Tracking (OV-MOT) aims to enable approaches to track objects without being limited to a predefined set of categories. Current OV-MOT methods typically rely primarily on instance-level detection and association,…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…
LiDAR-based 3D single object tracking (3D SOT) is a critical task in robotics and autonomous systems. Existing methods typically follow frame-wise motion estimation or a sequence-based paradigm. However, the two-frame methods are efficient…