Related papers: BPMP-Tracker: A Versatile Aerial Target Tracker Us…
Robust data association is critical for analysis of long-term motion trajectories in complex scenes. In its absence, trajectory precision suffers due to periods of kinematic ambiguity degrading the quality of follow-on analysis. Common…
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…
This article addresses the problem of multi-object tracking by using a non-deterministic model of target behaviors with hard constraints. To capture the evolution of target features as well as their locations, we permit objects to lie in a…
Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…
In this work, a set of motion primitives is defined for use in an energy-aware motion planning problem. The motion primitives are defined as sequences of control inputs to a simplified four-DOF dynamics model and are used to replace the…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
As a crucial robotic perception capability, visual tracking has been intensively studied recently. In the real-world scenarios, the onboard processing time of the image streams inevitably leads to a discrepancy between the tracking results…
Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. Alternatively, provably safe trajectory planning…
Providing smooth reference trajectories can effectively increase performance and accuracy of tracking control applications while overshoot and unwanted vibrations are reduced. Trajectory planning computations can often be simplified…
Accurately tracking and predicting behaviors of surrounding objects are key prerequisites for intelligent systems such as autonomous vehicles to achieve safe and high-quality decision making and motion planning. However, there still remain…
A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…
Most of the existing single object trackers track the target in a unitary local search window, making them particularly vulnerable to challenging factors such as heavy occlusions and out-of-view movements. Despite the attempts to further…
In Model Predictive Control (MPC) formulations of trajectory tracking problems, infeasible reference trajectories and a-priori unknown constraints can lead to cumbersome designs, aggressive tracking, and loss of recursive feasibility. This…
This study proposes a novel artificial intelligence (AI) driven flight computer, integrating an online free-retraining-prediction model, a swarm control, and an obstacle avoidance strategy, to track dynamic targets using a distributed drone…
The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and…
Navigating complex environments requires Unmanned Aerial Vehicles (UAVs) and autonomous systems to perform trajectory tracking and obstacle avoidance in real-time. While many control strategies have effectively utilized linear…
The shift to the radiative near field region due to large antenna arrays necessitates beamforming that accounts for both angle and range, evolving mobility management into a joint angular range tracking challenge. Conventional schemes rely…
In this paper, we propose an approximate Bayesian computation approach to perform a multiple target tracking within a binary sensor network. The nature of the binary sensors (getting closer - moving away information) do not allow the use of…