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Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm…
Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…
Semantic scene segmentation from a bird's-eye-view (BEV) perspective plays a crucial role in facilitating planning and decision-making for mobile robots. Although recent vision-only methods have demonstrated notable advancements in…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
Accurate obstacle identification represents a fundamental challenge within the scope of near-field perception for autonomous driving. Conventionally, fisheye cameras are frequently employed for comprehensive surround-view perception,…
The decline of bee and wind-based pollination systems in greenhouses due to controlled environments and limited access has boost the importance of finding alternative pollination methods. Robotic based pollination systems have emerged as a…
Estimating the direction of ambient fluid flow is key for many flying or swimming animals and robots, but can only be accomplished through indirect measurements and active control. Recent work with tethered flying insects indicates that…
In this paper, we present a comprehensive investigation of the challenges of Monocular Visual Simultaneous Localization and Mapping (vSLAM) methods for underwater robots. While significant progress has been made in state estimation methods…
Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…
Finding obstacle-free paths in unknown environments is a big navigation issue for visually impaired people and autonomous robots. Previous works focus on obstacle avoidance, however they do not have a general view of the environment they…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
A robot guide dog has compelling advantages over animal guide dogs for its cost-effectiveness, potential for mass production, and low maintenance burden. However, despite the long history of guide dog robot research, previous studies were…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…
We describe a system for visually guided autonomous navigation of under-canopy farm robots. Low-cost under-canopy robots can drive between crop rows under the plant canopy and accomplish tasks that are infeasible for over-the-canopy drones…
Sensor-based environmental perception is a crucial step for autonomous driving systems, for which an accurate calibration between multiple sensors plays a critical role. For the calibration of LiDAR and camera, the existing method is…
In this paper, we propose an operation procedure for our previously developed in-pipe robotic system that is used for water quality monitoring in water distribution systems (WDS). The proposed operation procedure synchronizes a developed…
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without…