Related papers: Multi-robot Task Assignment for Aerial Tracking wi…
This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting of a fully observable state-space and a partially…
The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…
This project was built from a pre-existing architecture that facilitates the planning and automatic execution of drone routes in a known space through a 3D virtual reality environment. Our work consisted in extending this architecture by…
Drone fleets, with counts on the order of O(100) to O(1000), will play important and significant roles in the automation of the deployment, operation, maintenance and repair of ubiquitous and pervasive landscape scale elongated structures,…
Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm…
Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…
Drone technology is proliferating in many industries, including agriculture, logistics, defense, infrastructure, and environmental monitoring. Vision-based autonomy is one of its key enablers, particularly for real-world applications. This…
Collaborative trajectory prediction can comprehensively forecast the future motion of objects through multi-view complementary information. However, it encounters two main challenges in multi-drone collaboration settings. The expansive…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
The vehicle routing problem with drones (VRP-D) is to determine the optimal routes of trucks and drones such that the total operational cost is minimized in a scenario where the trucks work in tandem with the drones to deliver parcels to…
Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…
A benchmark for multi-UAV task assignment is presented in order to evaluate different algorithms. An extended Team Orienteering Problem is modeled for a kind of multi-UAV task assignment problem. Three intelligent algorithms, i.e., Genetic…
We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…
We introduce and study a new cooperative delivery problem inspired by drone-assisted package delivery. We consider a scenario where a drone, en route to deliver a package to a destination (a point on the plane), unexpectedly loses…
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…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
In this paper, we address the problem of adaptive path planning for accurate semantic segmentation of terrain using unmanned aerial vehicles (UAVs). The usage of UAVs for terrain monitoring and remote sensing is rapidly gaining momentum due…
Many multi-robot planning problems are burdened by the curse of dimensionality, which compounds the difficulty of applying solutions to large-scale problem instances. The use of learning-based methods in multi-robot planning holds great…