Related papers: UniPilot: Enabling GPS-Denied Autonomy Across Embo…
Tracking and modeling unknown rigid objects in the environment play a crucial role in autonomous unmanned systems and virtual-real interactive applications. However, many existing Simultaneous Localization, Mapping and Moving Object…
The deployment of humanoid robots for dexterous manipulation in unstructured environments remains challenging due to perceptual limitations that constrain the effective workspace. In scenarios where physical constraints prevent the robot…
Sliding mode control of a launch vehicle during its atmospheric flight phase is studied in the presence of unmatched disturbances. Linear time-varying dynamics of the aerospace vehicle is converted into a systematic formula and then dynamic…
Autonomous driving has seen remarkable advancements, largely driven by extensive real-world data collection. However, acquiring diverse and corner-case data remains costly and inefficient. Generative models have emerged as a promising…
Tracking and locating radio-tagged wildlife is a labor-intensive and time-consuming task necessary in wildlife conservation. In this article, we focus on the problem of achieving embedded autonomy for a resource-limited aerial robot for the…
Loco-Manipulation for humanoid robots aims to enable robots to integrate mobility with upper-body tracking capabilities. Most existing approaches adopt hierarchical architectures that decompose control into isolated upper-body…
Jointly processing information from multiple sensors is crucial to achieving accurate and robust perception for reliable autonomous driving systems. However, current 3D perception research follows a modality-specific paradigm, leading to…
Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…
With the increasing prevalence of drones in various industries, the navigation and tracking of unmanned aerial vehicles (UAVs) in challenging environments, particularly GNSS-denied areas, have become crucial concerns. To address this need,…
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…
Grid maps are widely established for the representation of static objects in robotics and automotive applications. Though, incorporating velocity information is still widely examined because of the increased complexity of dynamic grids…
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that…
As quadrotors take on an increasingly diverse range of roles, researchers often need to develop new hardware platforms tailored for specific tasks, introducing significant engineering overhead. In this article, we introduce the UniQuad…
The Omnid human-collaborative mobile manipulators are an experimental platform for testing control architectures for autonomous and human-collaborative multirobot mobile manipulation. An Omnid consists of a mecanum-wheel omnidirectional…
Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…
We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…
Recent years have seen tremendous advancements in the area of autonomous payload delivery via unmanned aerial vehicles, or drones. However, most of these works involve delivering the payload at a predetermined location using its GPS…
Building domain-specific accelerators for autonomous unmanned aerial vehicles (UAVs) is challenging due to a lack of systematic methodology for designing onboard compute. Balancing a computing system for a UAV requires considering both the…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
A long-standing objective in humanoid robotics is the realization of versatile agents capable of following diverse multimodal instructions with human-level flexibility. Despite advances in humanoid control, bridging high-level multimodal…