Related papers: High-Precision and High-Efficiency Trajectory Trac…

The speed-precision trade-off is a critical problem for visual object tracking which usually requires low latency and deployment on constrained resources. Existing solutions for efficient tracking mainly focus on adopting light-weight…

This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertainties. The approach uses deep neural networks to learn uncertain…

Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn…

Vehicle trajectory prediction is essential for enabling safety-critical intelligent transportation systems (ITS) applications used in management and operations. While there have been some promising advances in the field, there is a need for…

The complex dynamicity of open-world objects presents non-negligible challenges for multi-object tracking (MOT), often manifested as severe deformations, fast motion, and occlusions. Most methods that solely depend on coarse-grained object…

Real-world physics can only be analytically modeled with a certain level of precision for modern intricate robotic systems. As a result, tracking aggressive trajectories accurately could be challenging due to the existence of residual…

Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…

This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an object detection and intension-free motion prediction method is…

Adaptive tracking-by-detection approaches are popular for tracking arbitrary objects. They treat the tracking problem as a classification task and use online learning techniques to update the object model. However, these approaches are…

In the last decades, visual target tracking has been one of the primary research interests of the Robotics research community. The recent advances in Deep Learning technologies have made the exploitation of visual tracking approaches…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…

Autonomous driving systems are always built on motion-related modules such as the planner and the controller. An accurate and robust trajectory tracking method is indispensable for these motion-related modules as a primitive routine.…

Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land for recharging. In this paper, we present a solution for…

This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…

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…

Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often…

We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped…

Safety-critical perception for unmanned aerial vehicles and rotating machinery requires microsecond-latency tracking of fast, periodic motion under egomotion and strong distractors. Frame-based and event-based trackers drift or break on…

This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…

Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…