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Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…
This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and the Sample Fetching Rover (SFR). The navigation…
Path planning is a critical component in autonomous drone operations, enabling safe and efficient navigation through complex environments. Recent advances in foundation models, particularly large language models (LLMs) and vision-language…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
This paper presents the development of an Artificial Intelligence (AI) based fighter jet agent within a customized Pygame simulation environment, designed to solve multi-objective tasks via deep reinforcement learning (DRL). The jet's…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
This paper introduces a high-performance artificial intelligence operating system tailored for low-altitude aviation, designed to address key challenges such as real-time task execution, computational efficiency, and seamless modular…
Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage…
Autonomous Unmanned Aerial Vehicles (UAVs) must reliably detect thin obstacles such as wires, poles, and branches to navigate safely in real-world environments. These structures remain difficult to perceive because they occupy few pixels,…
This paper presents a navigation strategy to fly to the Moon along a Weak Stability Boundary transfer trajectory. A particular strategy is devised to ensure capture into an uncontrolled relatively stable orbit at the Moon. Both uncertainty…
Future missions to Enceladus would benefit from multi-moon tours that leverage V-infinity on resonant orbits to progressively transfer between moons. Such "resonance family hopping" trajectories present a vast search space for global…
Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
This work explores the challenges of creating a scalable and robust robot navigation system that can traverse both indoor and outdoor environments to reach distant goals. We propose a navigation system architecture called IntentionNet that…
This paper proposes an optimized mapping of the FIR filter algorithm that enhances the rate of a reconfigurable computer over a basic mapping previously proposed [1]. It also presents a new interconnection scheme in the reconfigurable part…
This paper presents an extension of the DRIFT invariant state estimation framework, enabling robust fusion of GPS and IMU data for accurate pose and heading estimation. Originally developed for testing and usage on a marine autonomous…
In this work, high-resolution, high-speed videos of a Monarch butterfly (Danaus plexippus) in take-off flight were obtained using a photogrammetry system. Using a 3D subdivision surface reconstruction methodology, the butterfly's body/wing…
Multirotors are usually desired to enter confined narrow tunnels that are barely accessible to humans in various applications including inspection, search and rescue, and so on. This task is extremely challenging since the lack of geometric…
Dragonfly interconnect is a crucial network technology for supercomputers. To support exascale systems, network resources are shared such that links and routers are not dedicated to any node pair. While link utilization is increased,…
This paper introduced the space mission DikpolaSat Mission, how this research fits into the mission, and the importance of having a trained DNN model instead of the usual GN&C functionality. This paper shows how the controller demonstration…