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Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated navigation systems to move mobile robots from one point to another.…
Coordinated flight of multiple drones allows to achieve tasks faster such as search and rescue and infrastructure inspection. Thus, pushing the state-of-the-art of aerial swarms in navigation speed and robustness is of tremendous benefit.…
Effective trajectory generation is essential for reliable on-board spacecraft autonomy. Among other approaches, learning-based warm-starting represents an appealing paradigm for solving the trajectory generation problem, effectively…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…
Over the past decade, deep learning research has been accelerated by increasingly powerful hardware, which facilitated rapid growth in the model complexity and the amount of data ingested. This is becoming unsustainable and therefore…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
Autonomous spacecraft relative navigation technology has been planned for and applied to many famous space missions. The development of on-board electronics systems has enabled the use of vision-based and LiDAR-based methods to achieve…
In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between…
Swarm robotics is envisioned to automate a large number of dirty, dangerous, and dull tasks. Robots have limited energy, computation capability, and communication resources. Therefore, current swarm robotics have a small number of robots,…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
This paper presents a novel formulation and solution of orbit determination over finite time horizons as a learning problem. We present an approach to orbit determination under very broad conditions that are satisfied for n-body problems.…
Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms…
Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…
Efficient traffic monitoring is crucial for managing urban transportation networks, especially under congested and dynamically changing traffic conditions. Drones offer a scalable and cost-effective alternative to fixed sensor networks.…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm, an ultra-lightweight and scalable planner designed…