Related papers: Preliminary Design of the Dragonfly Navigation Fil…
This chapter proposes using the Moth Flame Optimization (MFO) algorithm for finetuning a Deep Neural Network to recognize different underwater sonar datasets. Same as other models evolved by metaheuristic algorithms, premature convergence,…
The introduction of automated flight control and management systems have made possible aircraft designs that sacrifice arodynamic stability in order to incorporate stealth technology intro their shape, operate more efficiently, and are…
TeamIndus' lunar logistics vision includes multiple lunar missions to meet requirements of science, commercial and efforts towards global exploration. The first mission is slated for launch in 2020. The prime objective is to demonstrate…
In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…
In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet),…
In this paper we briefly summarize the design concepts of the Fly's Eye Camera System, a proposed high resolution all-sky monitoring device which intends to perform high cadence time domain astronomy in multiple optical passbands while…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
Since the beginning of robotic interplanetary exploration nearly six decades ago, successful atmospheric entry has been accomplished at Venus, Earth, Mars, Jupiter, and Titan. More entry probe missions are planned to Venus, Titan, and…
This paper introduces the Minimal Biorobotic Stealth Distance (MBSD), a novel quantitative metric to evaluate the bionic resemblance of biorobotic aircraft. Current technological limitations prevent dragonfly-inspired aircrafts from…
The Deep Atmosphere Venus Investigation of Noble gases, Chemistry, and Imaging (DAVINCI) mission described herein has been selected for flight to Venus as part of the NASA Discovery Program. DAVINCI will be the first mission to Venus to…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility…
Simultaneous Localization and Mapping (SLAM) is a process of concurrent estimation of the vehicle's pose and feature locations with respect to a frame of reference. This paper proposes a computationally cheap geometric nonlinear SLAM filter…
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However,…
Navigation Foundation Models (NFMs) trained on large cross-embodied datasets have demonstrated powerful generalizability in various scenarios. Adopting in-domain fine-tuning for an NFM efficiently calibrates the visuomotor policy, promising…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
Autonomous navigation in unstructured environments requires robots to assess terrain difficulty in real-time and plan paths that balance efficiency with safety. This thesis presents a traversability-aware navigation framework for the M4…
In this work we present more comprehensive evaluations on our airborne Gimbal mounted inertial measurement unit (IMU) signal simulator which also considers flight dynamic model (FDM). A flexible IMU signal simulator is an enabling tool in…
Communication, Navigation and Surveillance (CNS) technologies are key enablers for future safe operation of drones in urban environments. However, the design of navigation technologies for these new applications is more challenging compared…
Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on…