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The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…

Stylized motion generation is actively studied in computer graphics, especially benefiting from the rapid advances in diffusion models. The goal of this task is to produce a novel motion respecting both the motion content and the desired…

Current Visual-Language Navigation (VLN) methodologies face a trade-off between semantic understanding and control precision. While Multimodal Large Language Models (MLLMs) offer superior reasoning, deploying them as low-level controllers…

Designing correct UAV autonomy programs is challenging due to joint navigation, sensing and analytics requirements. While LLMs can generate code, their reliability for safety-critical UAVs remains uncertain. This paper presents AeroGen, an…

Flocking is a behavior where multiple agents in a system attempt to stay close to each other while avoiding collision and maintaining a desired formation. This is observed in the natural world and has applications in robotics, including…

This paper presents a learning-based guidance-and-control approach that couples a reasoning-enabled Large Language Model (LLM) with Group Relative Policy Optimization (GRPO). A two-stage procedure consisting of Supervised Fine-Tuning (SFT)…

Large language models (LLMs) have garnered significant attention for their remarkable capabilities across various domains, whose vast parameter scales present challenges for practical deployment. Structured pruning is an effective method to…

This paper presents a novel system for autonomous, vision-based drone racing combining learned data abstraction, nonlinear filtering, and time-optimal trajectory planning. The system has successfully been deployed at the first autonomous…

Unmanned Aerial Vehicles (UAVs) are evolving into language-interactive platforms, enabling more intuitive forms of human-drone interaction. While prior works have primarily focused on high-level planning and long-horizon navigation, we…

Drone light shows (DLShows) represent a rapidly growing application of swarm robotics, creating captivating aerial displays through the synchronized flight of hundreds or thousands of unmanned aerial vehicles (UAVs) as environmentally…

Large Language Models prompting, such as using in-context demonstrations, is a mainstream technique for invoking LLMs to perform high-performance and solid complex reasoning (e.g., mathematical reasoning, commonsense reasoning), and has the…

Unmanned aerial vehicle (UAV) swarms must exploit machine learning (ML) in order to execute various tasks ranging from coordinated trajectory planning to cooperative target recognition. However, due to the lack of continuous connections…

By employing large language models (LLMs) to retrieve documents and generate natural language responses, Generative Engines, such as Google AI overview and ChatGPT, provide significantly enhanced user experiences and have rapidly become the…

Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planning in tight spaces. Unfortunately, it is often…

This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a…

This paper presents an experimental study regarding the use of OpenAI's ChatGPT for robotics applications. We outline a strategy that combines design principles for prompt engineering and the creation of a high-level function library which…

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…

The adoption of unmanned aerial vehicles to monitor critical infrastructure is gaining momentum in various industrial domains. Organizational imperatives drive this progression to minimize expenses, accelerate processes, and mitigate…

We propose a novel concept of augmented reality (AR) human-drone interaction driven by RL-based swarm behavior to achieve intuitive and immersive control of a swarm formation of unmanned aerial vehicles. The DroneARchery system developed by…

Multi-robot target tracking is a fundamental problem that requires coordinated monitoring of dynamic entities in applications such as precision agriculture, environmental monitoring, disaster response, and security surveillance. While…