Related papers: FACT: Fast and Active Coordinate Initialization fo…
Swarms of autonomous surface vehicles equipped with environmental sensors and decentralized communications bring a new wave of attractive possibilities for the monitoring of dynamic features in oceans and other waterbodies. However, a key…
We consider the task of visually estimating the relative pose of a drone racing gate in front of a nano-quadrotor, using a convolutional neural network pre-trained on simulated data to regress the gate's pose. Due to the sim-to-real gap,…
This paper proposes the problem of modeling video sequences of dynamic swarms (DS). We define DS as a large layout of stochastically repetitive spatial configurations of dynamic objects (swarm elements) whose motions exhibit local…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…
In this paper, we propose a cost-effective strategy for heterogeneous UAV swarm systems for cooperative aerial inspection. Unlike previous swarm inspection works, the proposed method does not rely on precise prior knowledge of the…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and…
State-of-the-art methods for counting people in crowded scenes rely on deep networks to estimate crowd density in the image plane. While useful for this purpose, this image-plane density has no immediate physical meaning because it is…
We present a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment. We consider minimalist robots without memory, explicit communication, or…
Low-altitude unmanned aerial vehicle (UAV) swarms are expected to play important role for future intelligent aerial systems due to their great potential to cooperatively accomplish complicated missions effectively. However, there are…
This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…
Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…
This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…
Easily accessible sensors, like drones with diverse onboard sensors, have greatly expanded studying animal behavior in natural environments. Yet, analyzing vast, unlabeled video data, often spanning hours, remains a challenge for machine…
We consider the problem of vision-based 6-DoF object pose estimation in the context of the notional Mars Sample Return campaign, in which a robotic arm would need to localize multiple objects of interest for low-clearance pickup and…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
This study presents an advanced multi-view drone swarm imaging system for the three-dimensional characterization of smoke plume dispersion dynamics. The system comprises a manager drone and four worker drones, each equipped with…