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In this paper, we address the problem of online quadrotor whole-body motion planning (SE(3) planning) in unknown and unstructured environments. We propose a novel multi-resolution search method, which discovers narrow areas requiring full…
This paper proposes trajectory planning strategies for online reconfiguration of a multi-agent formation on a Lissajous curve. In our earlier work, a multi-agent formation with constant parametric speed was proposed in order to address…
In this work, a novel, end-to-end motion planning method is proposed for quadrotor navigation in cluttered environments. The proposed method circumvents the explicit sensing-reconstructing-planning in contrast to conventional navigation…
This paper presents a simple method to boost the robustness of quadrotors in trajectory tracking. The presented method features a high-gain disturbance observer (HGDO) that provides disturbance estimates in real-time. The estimates are then…
Control architectures are often implemented in a layered fashion, combining independently designed blocks to achieve complex tasks. Providing guarantees for such hierarchical frameworks requires considering the capabilities and limitations…
Precise arbitrary trajectory tracking for quadrotors is challenging due to unknown nonlinear dynamics, trajectory infeasibility, and actuation limits. To tackle these challenges, we present Deep Adaptive Trajectory Tracking (DATT), a…
An intuitive control method for the flying trot, which combines offline trajectory planning with real-time balance control, is presented. The motion features of running animals in the vertical direction were analysed using the…
Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles,…
The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…
Existing works on control of tractor-trailers systems only consider the kinematics model without taking dynamics into account. Also, most of them treat the issue as a pure control theory problem whose solutions are difficult to implement.…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
Providing intelligent support to surgical teams is a key frontier in automated surgical scene understanding, with the long-term goal of improving patient outcomes. Developing personalized intelligence for all staff members requires…
We propose a novel vector field based guidance scheme for tracking and surveillance of a convoy, moving along a possibly nonlinear trajectory on the ground, by an aerial agent. The scheme first computes a time varying ellipse that…
Particle tracking velocimetry in 3D is becoming an increasingly important imaging tool in the study of fluid dynamics, combustion as well as plasmas. We introduce a dynamic discrete tomography algorithm for reconstructing particle…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…
The design of the path-following controller is crucial for reliable autonomous vehicle operation. This design problem is especially challenging for a general 2-trailer with a car-like tractor due to the vehicle's unstable joint-angle…
It is at times important to detect human presence automatically in secure environments. This needs a shape recognition algorithm that is robust, fast and has low error rates. The algorithm needs to process camera images quickly to detect…
In this paper, we present a novel method called PolyTrack for fast multi-object tracking and segmentation using bounding polygons. Polytrack detects objects by producing heatmaps of their center keypoint. For each of them, a rough…
Fast and reliable trajectory planning is a key requirement of autonomous vehicles. In this paper we introduce a novel technique for planning the route of an autonomous vehicle on a straight rural road using the Spin model checker. We show…
A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…