Related papers: Leveraging three-dimensionality for navigation in …
Previous Vision-Language-Action models face critical limitations in navigation: scarce, diverse data from labor-intensive collection and static representations that fail to capture temporal dynamics and physical laws. We propose NavDreamer,…
Bio-inspired vehicles are currently leading the way in the quest to produce a vehicle capable of flight and underwater navigation. However, a fully functional vehicle has not yet been realized. We present the first fully functional vehicle…
This paper investigates the three-dimensional (3D) deployment of uncrewed aerial vehicles (UAVs) as aerial base stations in heterogeneous communication networks under constraints imposed by diverse ground obstacles. Given the diverse data…
We develop a model and numerical method to study the large-amplitude flutter of rectangular membranes (of zero bending rigidity) that shed a trailing vortex-sheet wake in a three-dimensional (3D) inviscid fluid flow. We apply small initial…
Offshore wind is rapidly expanding to meet clean and secure energy needs. New developments are now increasingly constrained to deep seasonally stratified waters. Here, flows past offshore wind infrastructure will increase water column…
We study the energetic efficiency of navigating microswimmers by explicitly taking into account the geometry of their body. We show that, as their shape transitions from prolate to oblate, non-steering microswimmers rotated by flow…
People navigating in unfamiliar buildings take advantage of myriad visual, spatial and semantic cues to efficiently achieve their navigation goals. Towards equipping computational agents with similar capabilities, we introduce Pathdreamer,…
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…
Multirotors flying in close proximity induce aerodynamic wake effects on each other through propeller downwash. Conventional methods have fallen short of providing adequate 3D force-based models that can be incorporated into robust control…
This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on…
Hydrodynamic interactions between swimming or flying organisms can lead to complex flows on the scale of the group. These emergent fluid dynamics are often more complex than a linear superposition of individual organism flows, especially at…
The transonic flight regime is often dominated by transonic buffet, a highly unsteady and complex shock-wave/boundary-layer interaction involving major parts of the flow field. The phenomenon is associated with a large-amplitude periodic…
In nature turbulent flows exist that are neither simply 2D nor 3D but boundary conditions, such as varying stratification, force them towards the one or the other. Here, we report the first evidence of the co-existence of 2D and 3D…
The impact of boat traffic on the health of coastal ecosystems is a multi-scale process: from minutes (individual wakes) to days (tidal modulation of sediment transport), to seasons and years (traffic is seasonal). A considerable numerical…
Discrete flow mapping was recently introduced as an efficient ray based method determining wave energy distributions in complex built up structures. Wave energy densities are transported along ray trajectories through polygonal mesh…
We investigate the hovering dynamics of rigid bodies with up-down asymmetry placed in oscillating background flows. Recent experiments on inanimate pyramid-shaped objects in oscillating flows with zero mean component demonstrate that the…
Differential buoyancy surface sources in the ocean may induce a density-driven flow that joins faster flow components to create a multi-scale, 3D flow. Potential temperature and salinity are active tracers that determine the ocean's…
Navigating quadruped robots in unstructured 3D environments poses significant challenges, requiring goal-directed motion, effective exploration to escape from local minima, and posture adaptation to traverse narrow, height-constrained…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…