Related papers: FACT: Fast and Active Coordinate Initialization fo…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
Swarm robotics plays a crucial role in enabling autonomous operations in dynamic and unpredictable environments. However, a major challenge remains ensuring safe and efficient navigation in environments filled with both dynamic alive (e.g.,…
Autonomous Micro Aerial Vehicles (MAVs) gained tremendous attention in recent years. Autonomous flight in indoor requires a dense depth map for navigable space detection which is the fundamental component for autonomous navigation. In this…
We propose a novel human-swarm interaction system, allowing the user to directly control a swarm of drones in a complex environment through trajectory drawing with a hand gesture interface based on the DNN-based gesture recognition. The…
Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…
In the general pattern formation (GPF) problem, a swarm of simple autonomous, disoriented robots must form a given pattern. The robots' simplicity imply a strong limitation: When the initial configuration is rotationally symmetric, only…
This paper aims to design quadrotor swarm performances, where the swarm acts as an integrated, coordinated unit embodying moving and deforming objects. We divide the task of creating a choreography into three basic steps: designing swarm…
Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
Collaborative path planning for robot swarms in complex, unknown environments without external positioning is a challenging problem. This requires robots to find safe directions based on real-time environmental observations, and to…
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
In the area of multi-drone systems, navigating through dynamic environments from start to goal while providing collision-free trajectory and efficient path planning is a significant challenge. To solve this problem, we propose a novel…
Air-to-air tracking of swarm UAVs presents significant challenges due to the complex nonlinear group motion and weak visual cues for small objects, which often cause detection failures, trajectory fragmentation, and identity switches.…
Monitoring crop fields to map features like weeds can be efficiently performed with unmanned aerial vehicles (UAVs) that can cover large areas in a short time due to their privileged perspective and motion speed. However, the need for…
Relative drone-to-drone localization is a fundamental building block for any swarm operations. We address this task in the context of miniaturized nano-drones, i.e., 10cm in diameter, which show an ever-growing interest due to novel use…
Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors,…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…