Related papers: NOVA: Navigation via Object-Centric Visual Autonom…
Objective-oriented navigation(ObjNav) enables robot to navigate to target object directly and autonomously in an unknown environment. Effective perception in navigation in unknown environment is critical for autonomous robots. While…
In language-guided visual navigation, agents locate target objects in unseen environments using natural language instructions. For reliable navigation in unfamiliar scenes, agents should possess strong perception, planning, and prediction…
This paper introduces a novel approach for robot navigation in challenging dynamic environments. The proposed method builds upon the concept of Velocity Obstacles (VO) that was later extended to Nonlinear Velocity Obstacles (NLVO) to…
We propose a visual servoing method consisting of a detection network and a velocity trajectory planner. First, the detection network estimates the objects position and orientation in the image space. Furthermore, these are normalized and…
Autonomous navigation emerges from both motion and local visual perception in real-world environments. However, most successful robotic motion estimation methods (e.g. VO, SLAM, SfM) and vision systems (e.g. CNN, visual place…
This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…
Tracking a target in cluttered and dynamic environments is challenging but forms a core component in applications like aerial cinematography. The obstacles in the environment not only pose collision risk but can also occlude the target from…
Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
Addressing the challenge of ensuring safety in ever-changing and unpredictable environments, particularly in the swiftly advancing realm of autonomous driving in today's 5G wireless communication world, we present Navigation Secure…
Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
An image-based control strategy along with estimation of target motion is developed to track dynamic targets without motion constraints. To the best of our knowledge, this is the first work that utilizes a bounding box as image features for…
Recent work on audio-visual navigation targets a single static sound in noise-free audio environments and struggles to generalize to unheard sounds. We introduce the novel dynamic audio-visual navigation benchmark in which an embodied AI…
Visual Odometry (VO) is fundamental to autonomous navigation, robotics, and augmented reality, with unsupervised approaches eliminating the need for expensive ground-truth labels. However, these methods struggle when dynamic objects violate…
Multi-camera full-body pose capture of humans and animals in outdoor environments is a highly challenging problem. Our approach to it involves a team of cooperating micro aerial vehicles (MAVs) with on-board cameras only. The key…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…