Related papers: APACE: Agile and Perception-Aware Trajectory Gener…
Autoregressive generation is a powerful approach for high-fidelity image synthesis, but it remains computationally demanding and slow even on the most advanced accelerators. While speculative decoding has been explored to mitigate this…
In this study a new approach is proposed for the generation of aircraft trajectories. The relative guidance of an aircraft, which is aimed to join in minimum time the track of a leader aircraft, is particularly considered. In a first place,…
We investigate how to utilize predictive models for selecting appropriate motion planning strategies based on perception uncertainty estimation for agile unmanned aerial vehicle (UAV) navigation tasks. Although there are variety of motion…
Robots deployed in the real world over extended periods of time need to reason about unexpected failures, learn to predict them, and to proactively take actions to avoid future failures. Existing approaches for competence-aware planning are…
Bidirectional thrust grants quadrotors a second equilibrium condition and increased control authority, expanding the envelope of possible aggressive maneuvers and enabling inverted flight, perching, and sensing. Prior geometric control…
Estimating uncertainty for AI agents in real-world multi-turn tool-using interaction with humans is difficult because failures are often triggered by sparse critical episodes (e.g., looping, incoherent tool use, or user-agent…
This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…
Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…
We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally,…
By sharing information across multiple agents, collaborative perception helps autonomous vehicles mitigate occlusions and improve overall perception accuracy. While most previous work focus on vehicle-to-vehicle and…
Reliable uncertainty quantification in trajectory prediction is crucial for safety-critical autonomous driving systems, yet existing deep learning predictors lack uncertainty-aware frameworks adaptable to heterogeneous real-world scenarios.…
Recent advancements in learning algorithms have demonstrated that the sharpness of the loss surface is an effective measure for improving the generalization gap. Building upon this concept, Sharpness-Aware Minimization (SAM) was proposed to…
Panoramic cameras, capturing comprehensive 360-degree environmental data, are suitable for quadruped robots in surrounding perception and interaction with complex environments. However, the scarcity of high-quality panoramic training…
This paper presents a framework capable of accurately and smoothly estimating position, heading, and velocity. Using this high-quality input, we propose a system based on Trajectron++, able to consistently generate precise trajectory…
Neural Architecture Search (NAS) has enabled automatic discovery of more efficient neural network architectures, especially for mobile and embedded vision applications. Although recent research has proposed ways of quickly estimating…
Data augmentation for deep learning benefits model training, image transformation, medical imaging analysis and many other fields. Many existing methods generate new samples from a parametric distribution, like the Gaussian, with little…
Air-land bimodal vehicles provide a promising solution for navigating complex environments by combining the flexibility of aerial locomotion with the energy efficiency of ground mobility. However, planning dynamically feasible, smooth,…
In this paper, we propose a novel framework of air traffic management (ATM). The framework is in particular characterized by the trajectory planning of weakly supervised aircraft; the air traffic control (ATC) does not completely determine…
This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehicle (USV)'s deck in harsh conditions. The trajectory…
Accurate trajectory tracking control for quadrotors is essential for safe navigation in cluttered environments. However, this is challenging in agile flights due to nonlinear dynamics, complex aerodynamic effects, and actuation constraints.…