Related papers: A General Purpose Method for Robotic Interception …
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…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
There is a space of uncertainty in the modeling of vehicular dynamics of autonomous systems due to noise in sensor readings, environmental factors or modeling errors. We present Requiem, a software-only, blackbox approach that exploits this…
Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…
The extensive application of unmanned aerial vehicles (UAVs) in military reconnaissance, environmental monitoring, and related domains has created an urgent need for accurate and efficient multi-object tracking (MOT) technologies, which are…
Accurate and robust tracking of surrounding road participants plays an important role in autonomous driving. However, there is usually no prior knowledge of the number of tracking targets due to object emergence, object disappearance and…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
Unmanned aerial vehicles (UAVs) with on-board cameras are widely used for remote surveillance and video capturing applications. In remote virtual reality (VR) applications, multiple UAVs can be used to capture different partially…
Autonomous Underwater Vehicles (AUVs) play an essential role in modern ocean exploration, and their speed control systems are fundamental to their efficient operation. Like many other robotic systems, AUVs exhibit multivariable nonlinear…
In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and…
Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising potentials to transform passive sensing missions into active 3-dimension interactive missions, but they still suffer from some difficulties impeding their wide…
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
In recent years, reports of illegal drones threatening public safety have increased. For the invasion of fully autonomous drones, traditional methods such as radio frequency interference and GPS shielding may fail. This paper proposes a…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
A network of unmanned aerial vehicles (UAVs) provides distributed coverage, reconfigurability, and maneuverability in performing complex cooperative tasks. However, it relies on wireless communications that can be susceptible to cyber…