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Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which…
Recently, vision-based control has gained traction by leveraging the power of machine learning. In this work, we couple a model predictive control (MPC) framework to a visual pipeline. We introduce deep optical flow (DOF) dynamics, which is…
The problem of control based on vision measurements (bearings) has been amply studied in the literature; however, the problem of addressing the limits of the field of view of physical sensors has received relatively less attention…
Formation and collision avoidance abilities are essential for multi-agent systems. Conventional methods usually require a central controller and global information to achieve collaboration, which is impractical in an unknown environment. In…
This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…
This paper presents a manifold based Unscented Kalman Filter that applies a novel strategy for inertial, model-aiding and Acoustic Doppler Current Profiler (ADCP) measurement incorporation. The filter is capable of observing and utilizing…
Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remains a challenging task. Recently, collision detection using…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
This study explores modeling and control for quadrotor acrobatics, focusing on executing flip maneuvers. Flips are an elegant way to deliver sensor probes into no-fly or hazardous zones, like volcanic vents. Successful flips require…
Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…
Ensuring safe real-time control of ship-mounted cranes in unstructured transportation environments requires handling multiple safety constraints while maintaining effective payload transfer performance. Unlike traditional crane systems,…
This paper presents a safety-critical locomotion control framework for quadrupedal robots. Our goal is to enable quadrupedal robots to safely navigate in cluttered environments. To tackle this, we introduce exponential Discrete Control…
We consider the problem of navigating a nonlinear dynamical system from some initial set to some target set while avoiding collision with an unsafe set. We extend the concept of density function to control density function (CDF) for solving…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. The main task for UAVs is to keep a prescribed separation with obstacles in the air. In this paper, a collision-avoidance…
Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains…
This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control. Static as well as moving obstacles are considered. Central…
The lateral-line system that has evolved in many aquatic animals enables them to navigate murky fluid environments, locate and discriminate obstacles. Here, we present a data-driven model that uses artificial neural networks to process flow…
This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form of local parametrized guidance vector fields, called…
Real-time interception of fast-moving objects by robotic arms in dynamic environments poses a formidable challenge due to the need for rapid reaction times, often within milliseconds, amidst dynamic obstacles. This paper introduces a…
3D particle tracking velocimetry (PTV) is a key technique for analyzing turbulent flow, one of the most challenging computational problems of our century. At the core of 3D PTV is the dual-frame fluid motion estimation algorithm, which…