Related papers: StableTracker: Learning to Stably Track Target via…

Autonomous drone racing has risen as a challenging robotic benchmark for testing the limits of learning, perception, planning, and control. Expert human pilots are able to fly a drone through a race track by mapping pixels from a single…

We present VisFly, a quadrotor simulator designed to efficiently train vision-based flight policies using reinforcement learning algorithms. VisFly offers a user-friendly framework and interfaces, leveraging Habitat-Sim's rendering engines…

We present a control method for improved repetitive path following for a ground vehicle that is geared towards long-term operation where the operating conditions can change over time and are initially unknown. We use weighted Bayesian…

For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…

Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…

Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…

In real world scenarios, due to environmental or hardware constraints, the quadrotor is forced to navigate in pure inertial navigation mode while operating indoors or outdoors. To mitigate inertial drift, end-to-end neural network…

This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…

Discriminative Correlation Filter (DCF) based methods have shown competitive performance on tracking benchmarks in recent years. Generally, DCF based trackers learn a rigid appearance model of the target. However, this reliance on a single…

Achieving expressive and generalizable whole-body motion control is essential for deploying humanoid robots in real-world environments. In this work, we propose UniTracker, a three-stage training framework that enables robust and scalable…

Time-optimal trajectories drive quadrotors to their dynamic limits, but computing such trajectories involves solving non-convex problems via iterative nonlinear optimization, making them prohibitively costly for real-time applications. In…

We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…

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…

We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and does not require global position information or…

Occlusion is a long-standing problem that causes many modern tracking methods to be erroneous. In this paper, we address the occlusion problem by exploiting the current and future possible locations of the target object from its past…

An inherent fragility of quadrotor systems stems from model inaccuracies and external disturbances. These factors hinder performance and compromise the stability of the system, making precise control challenging. Existing model-based…

Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…

Particle filters flexibly represent multiple posterior modes nonparametrically, via a collection of weighted samples, but have classically been applied to tracking problems with known dynamics and observation likelihoods. Such generative…

Contemporary autopilot systems for unmanned aerial vehicles (UAVs) are far more limited in their flight envelope as compared to experienced human pilots, thereby restricting the conditions UAVs can operate in and the types of missions they…

Safe flight in dynamic environments requires unmanned aerial vehicles (UAVs) to make effective decisions when navigating cluttered spaces with moving obstacles. Traditional approaches often decompose decision-making into hierarchical…