Related papers: Real-time Remote Tracking and Autonomous Planning …
Safe and real-time navigation is fundamental for humanoid robot applications. However, existing bipedal robot navigation frameworks often struggle to balance computational efficiency with the precision required for stable locomotion. We…
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.…
Easily accessible sensors, like drones with diverse onboard sensors, have greatly expanded studying animal behavior in natural environments. Yet, analyzing vast, unlabeled video data, often spanning hours, remains a challenge for machine…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Underwater glider robots have become indispensable for ocean sampling, yet fully autonomous long-term operation remains rare in practice. Although stakeholders are calling for tools to manage increasingly large fleets of gliders, existing…
Space debris is on the rise due to the increasing demand for spacecraft for com-munication, navigation, and other applications. The Space Surveillance Network (SSN) tracks over 27,000 large pieces of debris and estimates the number of…
Lightweight aerial swarms have potential applications in scenarios where larger drones fail to operate efficiently. The primary foundation for lightweight aerial swarms is efficient relative localization, which enables cooperation and…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
Micro robotics is quickly emerging to be a promising technological solution to many medical treatments with focus on targeted drug delivery. They are effective when working in swarms whose individual control is mostly infeasible owing to…
This work investigates the problem of simultaneous tracking and jamming of a rogue drone in 3D space with a team of cooperative unmanned aerial vehicles (UAVs). We propose a decentralized estimation, decision and control framework in which…
Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…
Harmful algal blooms occur frequently and deteriorate water quality. A reliable method is proposed in this paper to track algal blooms using a set of autonomous surface robots. A satellite image indicates the existence and initial location…
This paper presents a time-constrained model predictive control strategy for the 6 degree-of-freedom (6DOF) autonomous rendezvous and docking problem between a controllable "deputy" spacecraft and an uncontrollable "chief" spacecraft. The…
Representation and control of the dynamics of stigmergic substances used by bio-inspired approaches is a challenge when applied to robotics. In order to overcome this challenge, this work proposes a model to coordinate swarms of robots…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Human long duration exploration missions (LDEMs) raise a number of technological challenges. This paper addresses the question of the crew autonomy: as the distances increase, the communication delays and constraints tend to prevent the…
Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm…
This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled…
Off-road navigation is a challenging problem both at the planning level to get a smooth trajectory and at the control level to avoid flipping over, hitting obstacles, or getting stuck at a rough patch. There have been several recent works…