Related papers: Rapid Quadrotor Navigation in Diverse Environments…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…
Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
Autonomous navigation in dynamic environments is a complex but essential task for autonomous robots. Recent deep reinforcement learning approaches show promising results to solve the problem, but it is not solved yet, as they typically…
This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…
Autonomous identification and evaluation of safe landing zones are of paramount importance for ensuring the safety and effectiveness of aerial robots in the event of system failures, low battery, or the successful completion of specific…
The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…
This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…
We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…
Mobile robots have gained increased importance within industrial tasks such as commissioning, delivery or operation in hazardous environments. The ability to autonomously navigate safely especially within dynamic environments, is paramount…
Panoramic RGB-D cameras are known for their ability to produce high quality 3D scene reconstructions. However, operating these cameras involves manually selecting viewpoints and physically transporting the camera, making the generation of a…
Autonomous vehicles such as the Mars rovers currently lead the vanguard of surface exploration on extraterrestrial planets and moons. In order to accelerate the pace of exploration and science objectives, it is critical to plan safe and…
Biological flyers and swimmers navigate in unsteady wake flows using limited sensory abilities and actuation energies. Understanding how vortical structures can be leveraged for energy-efficient navigation in unsteady flows is beneficial in…
This paper solves the planar navigation problem by recourse to an online reactive scheme that exploits recent advances in SLAM and visual object recognition to recast prior geometric knowledge in terms of an offline catalogue of familiar…