Related papers: An Autonomous Vision-Based Algorithm for Interplan…
We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation, especially when using narrow field of…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
The accurate navigation of autonomous underwater vehicles critically depends on the precision of Doppler velocity log (DVL) velocity measurements. Recent advancements in deep learning have demonstrated significant potential in improving DVL…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
Maintaining consistent uncertainty estimates in localization systems is crucial as the perceived uncertainty commonly affects high-level system components, such as control or decision processes. A method for constructing an…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
We propose a cross attention transformer based method for multimodal sensor fusion to build a birds eye view of a vessels surroundings supporting safer autonomous marine navigation. The model deeply fuses multiview RGB and long wave…
Cameras are rapidly becoming the choice for on-board sensors towards space rendezvous due to their small form factor and inexpensive power, mass, and volume costs. When it comes to docking, however, they typically serve a secondary role,…
This review article is an attempt to survey all recent AI based techniques used to deal with major functions in This review paper presents a comprehensive overview of end-to-end deep learning frameworks used in the context of autonomous…
We present a Bayesian algorithm to combine optical imaging of unresolved objects from distinct epochs and observation platforms for orbit determination and tracking. By propagating the non-Gaussian uncertainties we are able to optimally…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
DESTINY+ is an upcoming JAXA Epsilon medium-class mission to flyby multiple asteroids including Phaethon. As an asteroid flyby observation instrument, a telescope mechanically capable of single-axis rotation, named TCAP, is mounted on the…
We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…
In recent years, learning-based approaches have demonstrated significant promise in addressing intricate navigation tasks. Traditional methods for training deep neural network navigation policies rely on meticulously designed reward…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
This paper presents a novel approach for aerial drone autonomous navigation along predetermined paths using only visual input form an onboard camera and without reliance on a Global Positioning System (GPS). It is based on using a deep…