Related papers: Formation Control for Enclosing and Tracking via R…

We study the problem of distance-based formation control in autonomous multi-agent systems in which only distance measurements are available. This means that the target formations as well as the sensed variables are both determined by…

This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…

Aerial tracking, which has exhibited its omnipresent dedication and splendid performance, is one of the most active applications in the remote sensing field. Especially, unmanned aerial vehicle (UAV)-based remote sensing system, equipped…

Correlation filter-based tracking has been widely applied in unmanned aerial vehicle (UAV) with high efficiency. However, it has two imperfections, i.e., boundary effect and filter corruption. Several methods enlarging the search area can…

In this paper, a single Unmanned-Aerial-Vehicle (UAV)-aided localization algorithm which uses both Doppler and Time of Arrival (ToA) measurements is presented. In contrast to Doppler-based localization algorithms which are based on…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

This work details the problem of aerial target capture using multiple UAVs. This problem is motivated from the challenge 1 of Mohammed Bin Zayed International Robotic Challenge 2020. The UAVs utilise visual feedback to autonomously detect…

Cooperative Unmanned Aerial Systems (UASs) in GPS-denied environments demand an accurate pose-localization system to ensure efficient operation. In this paper we present a novel visual relative localization system capable of monitoring a…

In this paper, we solve a joint cooperative localization and path planning problem for a group of Autonomous Aerial Vehicles (AAVs) in GPS-denied areas using nonlinear model predictive control (NMPC). A moving horizon estimator (MHE) is…

This paper presents an implementation and evaluation of a Distributed Kalman--Consensus Filter (DKCF) for Multi-Object Tracking (MOT) in mobile robot networks operating under partial observability and heterogeneous localization uncertainty.…

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…

This paper studies the problem of multi-robot pursuit of how to coordinate a group of defending robots to capture a faster attacker before it enters a protected area. Such operation for defending robots is challenging due to the unknown…

One of the most critical applications undertaken by coalitions of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is reaching predefined targets by following the most time-efficient routes while avoiding collisions.…

Real-time state tracking of Deformable Linear Objects (DLOs) is critical for enabling robotic manipulation of DLOs in industrial assembly, medical procedures, and daily-life applications. However, the high-dimensional configuration space,…

This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are…

Multi-object tracking (MOT) aims to track multiple objects while maintaining consistent identities across frames of a given video. In unmanned aerial vehicle (UAV) recorded videos, frequent viewpoint changes and complex UAV-ground relative…

In the last twenty years, unmanned aerial vehicles (UAVs) have garnered growing interest due to their expanding applications in both military and civilian domains. Detecting non-cooperative aerial vehicles with efficiency and estimating…

This study introduces a novel methodology for controlling Quadrotor Unmanned Aerial Vehicles, focusing on Hierarchical Sliding Mode Control strategies and an Extended Kalman Filter. Initially, an EKF is proposed to enhance robustness in…

Research in the field of autonomous Unmanned Aerial Vehicles (UAVs) has significantly advanced in recent years, mainly due to their relevance in a large variety of commercial, industrial, and military applications. However, UAV navigation…

This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…