Related papers: Vision-Based Multirotor Control for Spherical Targ…
We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
Feature tracking is a fundamental problem in computer vision, with applications in many computer vision tasks, such as visual SLAM and action recognition. This paper introduces a novel multi-body feature tracker that exploits a multi-body…
High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…
An increasing number of nonspecialist robotic users demand easy-to-use machines. In the context of visual servoing, the removal of explicit image processing is becoming a trend, allowing an easy application of this technique. This work…
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…
This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…
In this paper, a multi-objective model-following control problem is solved using an observer-based adaptive learning scheme. The overall goal is to regulate the model-following error dynamics along with optimizing the dynamic variables of a…
Computer vision has received a significant attention in recent year, which is one of the important parts for robots to obtain information about the external environment. Visual trackers can provide the necessary physical and environmental…
Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab…
This paper demonstrates the single-shot learning capabilities of retrospective cost optimization based data-driven control applied to learning multirotor controller gains for trajectory tracking. In particular, the proposed control approach…
Permanent magnet synchronous motors (PMSM) are widely used due to their numerous benefits. It is critical to get rotor position and speed information in order to operate the motor accurately. Sensorless control techniques have emerged as a…
Tracking of multiple objects is an important application in AI City geared towards solving salient problems related to safety and congestion in an urban environment. Frequent occlusion in traffic surveillance has been a major problem in…
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without waiting for future refinements. While traditional visual SLAM…
Automotive targets undergoing turns in road junctions offer large synthetic apertures over short dwell times to automotive radars that can be exploited for obtaining fine cross-range resolution. Likewise, the wide bandwidths of the…
A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the…
While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…
Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller HTSMC, an instruction planning controller…