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Over the course of the last decade, the cost of marine robotic platforms has significantly decreased. In part this has lowered the barriers to entry of exploring and monitoring larger areas of the earth's oceans. However, these advances…
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial…
Embodied navigation demands comprehensive scene understanding and precise spatial reasoning. While image-text models excel at interpreting pixel-level color and lighting cues, 3D-text models capture volumetric structure and spatial…
Although people spend most of their time indoors, outdoor tracking systems, such as the Global Positioning System (GPS), are predominantly used for location-based services. These systems are accurate outdoors, easy to use, and operate…
This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing…
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea…
Rescue vessels are the main actors in maritime safety and rescue operations. At the same time, aerial drones bring a significant advantage into this scenario. This paper presents the research directions of the AutoSOS project, where we work…
Safe and efficient navigation in crowded environments remains a critical challenge for robots that provide a variety of service tasks such as food delivery or autonomous wheelchair mobility. Classical robot crowd navigation methods decouple…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…
The emergence of water-proof mobile and wearable devices (e.g., Garmin Descent and Apple Watch Ultra) designed for underwater activities like professional scuba diving, opens up opportunities for underwater networking and localization…
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
Cooperative transportation via multiple aerial robots has the potential to support various payloads and reduce the chances of them being dropped. Furthermore, autonomously controlled robots render the system scalable with respect to the…
Recent advancements in UAV technology have spurred interest in developing multi-UAV aerial surveying systems for use in confined environments where GNSS signals are blocked or jammed. This paper focuses airborne magnetic surveying…
In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…