Related papers: Chasing Millimeters: Design, Navigation and State …
Mobile robots that move between outdoor and indoor environments still struggle with consistent positioning. Satellite-based and terrestrial ranging each work well in their home domains, but combining them at the raw measurement level has…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
As autonomous robotic systems become increasingly mature, users will want to specify missions at the level of intent rather than in low-level detail. Language is an expressive and intuitive medium for such mission specification. However,…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
Aerial manipulation has gained interest in completing high-altitude tasks that are challenging for human workers, such as contact inspection and defect detection, etc. Previous research has focused on maintaining static contact points or…
Low-altitude urban flight planning for small Unmanned Aircraft Systems (UAS) requires accurate vehicle, environment maps, and risk models to assure flight plans consider the urban landscape as well as airspace constraints. This paper…
This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…
Autonomous ocean-exploring vehicles have begun to take advantage of onboard sensor measurements of water properties such as salinity and temperature to locate oceanic features in real time. Such targeted sampling strategies enable more…
The key motivation for the low-frequency magnetic localization approach is that magnetic near-fields are well predictable by a free-space model, which should enable accurate localization. Yet, limited accuracy has been reported for…
This study presents a new methodology for learning-based motion planning for autonomous exploration using aerial robots. Through the reinforcement learning method of learning through trial and error, the action policy is derived that can…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
This paper presents a novel trajectory planning method for aerial perching. Compared with the existing work, the terminal states and the trajectory durations can be adjusted adaptively, instead of being determined in advance. Furthermore,…
In the field of autonomous Unmanned Aerial Vehicles (UAVs) landing, conventional approaches fall short in delivering not only the required precision but also the resilience against environmental disturbances. Yet, learning-based algorithms…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
Accurate state estimation is critical for legged and aerial robots operating in dynamic, uncertain environments. A key challenge lies in specifying process and measurement noise covariances, which are typically unknown or manually tuned. In…
This paper presents a method for incorporating control analysis into design optimization for highly-maneuverable aircraft. By studying reachable sets for aircraft dynamics, we ensure that the optimizer will take the aircraft's controlled…
The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection.…
Missiles pose a major threat to aircraft in modern air combat. Advances in technology make them increasingly difficult to detect until they are close to the target and highly resistant to jamming. The evasion maneuver is the last line of…