Related papers: Chasing Millimeters: Design, Navigation and State …
This paper presents state estimation and stochastic optimal control gathered in one global optimization problem generating dual effect i.e. the control can improve the future estimation. As the optimal policy is impossible to compute, a…
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…
Autonomous landing systems for Micro Aerial Vehicles (MAV) have been proposed using various combinations of GPS-based, vision, and fiducial tag-based schemes. Landing is a critical activity that a MAV performs and poor resolution of GPS,…
Perceiving and mapping the surroundings are essential for enabling autonomous navigation in any robotic platform. The algorithm class that enables accurate mapping while correcting the odometry errors present in most robotics systems is…
As a crucial robotic perception capability, visual tracking has been intensively studied recently. In the real-world scenarios, the onboard processing time of the image streams inevitably leads to a discrepancy between the tracking results…
We present the design of a radio antenna system for obtaining instantaneous bearing measurements towards a radio emitter. Our work is motivated by applications where robots are used for localizing and tracking radio-tagged wildlife. The…
The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity.…
Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…
Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…
Autonomous driving is an important trend of the automotive industry. The continuous research towards this goal requires a precise reference vehicle state estimation under all circumstances in order to develop and test autonomous vehicle…
Line detection is widely used in many robotic tasks such as scene recognition, 3D reconstruction, and simultaneous localization and mapping (SLAM). Compared to points, lines can provide both low-level and high-level geometrical information…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
This paper introduces a methodology for task-specific design optimization of multirotor Micro Aerial Vehicles. By leveraging reinforcement learning, Bayesian optimization, and covariance matrix adaptation evolution strategy, we optimize…
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…
In several applications it is desired to have 3D models not only from the outdoor spaces but also from inside the building. In the context of First Responder enhancement in large scale natural and man-made disasters, a method is presented…
We use Reinforcement Meta-Learning to optimize an adaptive integrated guidance, navigation, and control system suitable for exoatmospheric interception of a maneuvering target. The system maps observations consisting of strapdown seeker…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…
We present a complete infrastructure-less magneto-inductive (MI) localization system enabling a lightweight UAV to autonomously hover, track, and land with centimeter precision on a mobile quadruped robot acting as a dynamic docking pad.…
In many scenarios, unmanned aerial vehicles (UAVs), aka drones, need to have the capability of autonomous flying to carry out their mission successfully. In order to allow these autonomous flights, drones need to know their location…