Related papers: Leveraging three-dimensionality for navigation in …
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Accurate prediction of wake dynamics behind hydrofoils is critical for mitigating vortex-induced vibrations and improving the performance of hydraulic machinery. Conventional turbulence modeling approaches often struggle to capture the…
The detection of coherent structures is an important problem in fluid dynamics, particularly in geophysical applications. For instance, knowledge of how regions of fluid are isolated from each other allows prediction of the ultimate fate of…
The unsteady hydrodynamics of two in-phase pitching foils arranged in side-by-side (parallel) configurations is examined for a range of Strouhal number and separation distance. Three distinct vortex patterns are identified in the Strohual…
Turbulent flows driven by a vertically invariant body force were proven to become exactly two-dimensional above a critical rotation rate, using upper bound theory. This transition in dimensionality of a turbulent flow has key consequences…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
Navigating efficiently across vortical flow fields presents a significant challenge in various robotic applications. The dynamic and unsteady nature of vortical flows often disturbs the control of underwater robots, complicating their…
An initial-value problem for arbitrary small 3D vorticity perturbations imposed on a free shear flow is considered. The viscous perturbation equations are then combined in terms of the vorticity and velocity, and are solved by means of a…
How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. navigating a complex environment)? What are the consequences of not utilizing such visual…
The fast and accurate prediction of unsteady flow becomes a serious challenge in fluid dynamics, due to the high-dimensional and nonlinear characteristics. A novel hybrid deep neural network (DNN) architecture was designed to capture the…
Obstacle avoidance path planning for uncrewed aerial vehicles (UAVs), or drones, is rarely addressed in most flight path planning schemes, despite obstacles being a realistic condition. Obstacle avoidance can also be energy-intensive,…
Planning and acting in 3D environments is a fundamental capability for robotic manipulation in the real world. Although prior work has explored predictive flow planners to guide 3D manipulation, existing approaches often rely on modular…
Battery-powered multirotor unmanned aerial vehicles (UAVs) can rapidly map unknown environments, but mission performance is often limited by energy rather than geometry alone. Standard exploration policies that optimise for coverage or time…
This work delineates a hybrid predictive framework configured as a coarse-grained surrogate for reconstructing unsteady fluid flows around multiple cylinders of diverse configurations. The presence of cylinders of arbitrary nature causes…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. This difficulty mainly arises because most existing planning…
Estimating 3D occupancy and motion at the vehicle's surroundings is essential for autonomous driving, enabling situational awareness in dynamic environments. Existing approaches jointly learn geometry and motion but rely on expensive 3D…
Unmanned Aerial Vehicles (UAVs) have emerged as a critical component in next-generation wireless networks, particularly for disaster recovery scenarios, due to their flexibility, mobility, and rapid deployment capabilities. This paper…
Zero-shot object navigation (ZSON) requires robots to locate target objects in unseen environments without task-specific fine-tuning or pre-built maps, a capability crucial for service and household robotics. Existing methods perform well…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…