Related papers: Decentralized Multi-Robot Obstacle Detection and T…
Wildlife field operations demand efficient parallel deployment methods to identify and interact with specific individuals, enabling simultaneous collective behavioral analysis, and health and safety interventions. Previous robotics…
Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It's challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a $\textit{blind}$ robot, and…
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…
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple…
Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling…
This paper proposes a multi-sensor based approach to detect, track, and localize a quadcopter unmanned aerial vehicle (UAV). Specifically, a pipeline is developed to process monocular RGB and thermal video (captured from a fixed platform)…
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…
This paper addresses the problem of multi-object tracking in Unmanned Aerial Vehicle (UAV) footage. It plays a critical role in various UAV applications, including traffic monitoring systems and real-time suspect tracking by the police.…
Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynamic obstacles. The framework utilizes spatiotemporal…
We present a hybrid multi-robot coordination framework that combines decentralized path planning with centralized conflict resolution. In our approach, each robot autonomously plans its path and shares this information with a centralized…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…
In this paper a vision-based system for detection, motion tracking and following of Unmanned Aerial Vehicle (UAV) with other UAV (follower) is presented. For detection of an airborne UAV we apply a convolutional neural network YOLO trained…
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.…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
Coordination in multi-agent systems is challenging for agile robots such as unmanned aerial vehicles (UAVs), where relative agent positions frequently change due to unconstrained movement. The problem is exacerbated through the individual…
Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive…
Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and…