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Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and…
This paper introduces a novel Differential Dynamic Programming (DDP) algorithm for solving discrete-time finite-horizon optimal control problems with inequality constraints. Two variants, namely Feasible- and Infeasible-IPDDP algorithms,…
Simultaneous localization and mapping (SLAM) technology has recently achieved photorealistic mapping capabilities thanks to the real-time, high-fidelity rendering enabled by 3D Gaussian Splatting (3DGS). However, due to the static…
The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for…
Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention…
The Dynamic Targeting (DT) mission concept is an approach to satellite observation in which a lookahead sensor gathers information about the upcoming environment and uses this information to intelligently plan observations. Previous work…
Designing spacecraft trajectories remains challenging in the presence of stochastic effects such as maneuver execution errors and observation uncertainties. Although covariance control and belief-space planning provide useful tools for…
Reconfigurable Intelligent Surface (RIS) technology has gained significant attention due to its ability to enhance the performance of wireless communication systems. The main advantage of RIS is that it can be strategically placed in the…
This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…
Computing the optimal solution to a spatial filtering problems in a Wireless Sensor Network can incur large bandwidth and computational requirements if an approach relying on data centralization is used. The so-called distributed adaptive…
Context. Modern space telescopes are currently providing high-precision light curves for a large fraction of the sky, such that many new variable stars are being discovered. However, some stars have periodic variability with periods of…
We present a method for system identification of flexible objects by measuring forces and displacement during interaction with a manipulating arm. We model the object's structure and flexibility by a chain of rigid bodies connected by…
In contemporary imaging systems, achieving optimal auto-focus (AF) performance hinges on precise lens positioning. Extensive research has delved into refining algorithms for determining the ideal lens position across passive, active, and…
The emerging drone aerial survey has the advantages of low cost, high efficiency, and flexible use. However, UAVs are often equipped with cheap POS systems and non-measurement cameras, and their flight attitudes are easily affected. How to…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
The direct imaging and characterization of exoplanets requires extreme adaptive optics (XAO), achieving exquisite wavefront correction (upwards of 90$\%$ Strehl) over a narrow field of view (a few arcseconds). For these XAO systems the…
We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…
The autonomous real-time optical navigation of planetary UAV is of the key technologies to ensure the success of the exploration. In such a GPS denied environment, vision-based localization is an optimal approach. In this paper, we proposed…
The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…