Related papers: A Cooperative Bearing-Rate Approach for Observabil…
Vision-based cooperative motion estimation is an important problem for many multi-robot systems such as cooperative aerial target pursuit. This problem can be formulated as bearing-only cooperative motion estimation, where the visual…
Monocular vision-based target motion estimation is a fundamental challenge in numerous applications. This work introduces a novel bearing-box approach that fully leverages modern 3D detection measurements that are widely available nowadays…
Vision-based estimation of the motion of a moving target is usually formulated as a bearing-only estimation problem where the visual measurement is modeled as a bearing vector. Although the bearing-only approach has been studied for…
This paper investigates cooperative estimation of 3D target object motion for visual sensor networks. In particular, we consider the situation where multiple smart vision cameras see a group of target objects. The objective here is to meet…
This paper addresses the multi-robot pursuit problem for an unknown target, encompassing both target state estimation and pursuit control. First, in state estimation, we focus on using only bearing information, as it is readily available…
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
This paper investigates vision-based cooperative estimation of a 3D target object pose for visual sensor networks. In our previous works, we presented an estimation mechanism called networked visual motion observer achieving averaging of…
Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…
Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…
Safe and efficient co-planning of multiple robots in pedestrian participation environments is promising for applications. In this work, a novel multi-robot social-aware efficient cooperative planner that on the basis of off-policy…
Different from existing MOT (Multi-Object Tracking) techniques that usually aim at improving tracking accuracy and average FPS, real-time systems such as autonomous vehicles necessitate new requirements of MOT under limited computing…
We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…
Conventional radar feature extraction faces limitations due to low spatial resolution, noise, multipath reflection, the presence of ghost targets, and motion blur. Such limitations can be exacerbated by nonlinear object motion, particularly…
We address the problem of (a) predicting the trajectory of an arm reaching motion, based on a few seconds of the motion's onset, and (b) leveraging this predictor to facilitate shared-control manipulation tasks, easing the cognitive load of…
Bearing-only Target Motion Analysis (TMA) is a promising technique for passive tracking in various applications as a bearing angle is easy to measure. Despite its advantages, bearing-only TMA is challenging due to the nonlinearity of the…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…