Related papers: Distributed State Estimation for Vision-Based Coop…
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…
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the…
Multi-agent systems are increasingly applied in space missions, including distributed space systems, resilient constellations, and autonomous rendezvous and docking operations. A critical emerging application is collaborative spacecraft…
Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…
The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…
The development of cooperative vehicle safety (CVS) applications, such as collision warnings, turning assistants, and speed advisories, etc., has received great attention in the past few years. Accurate vehicular localization is essential…
This work addresses the problem of path tracking control of a suspended load using a tilt-rotor UAV. The main challenge in controlling this kind of system arises from the dynamic behavior imposed by the load, which is usually coupled to the…
Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…
This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from…
This paper presents UniPilot, a compact hardware-software autonomy payload that can be integrated across diverse robot embodiments to enable autonomous operation in GPS-denied environments. The system integrates a multi-modal sensing suite…
We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking…
Cameras provide a rich source of information while being passive, cheap and lightweight for small and medium Unmanned Aerial Vehicles (UAVs). In this work we present the first implementation of receding horizon control, which is widely used…
This paper presents a monocular vision system susceptible of being installed in unmanned small and medium-sized aerial vehicles built to perform missions in forest environments (e.g., search and rescue). The proposed system extends a…
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…
In this paper we present a consistent and distributed state estimator for multi-robot cooperative localization (CL) which efficiently fuses environmental features and loop-closure constraints across time and robots. In particular, we…
This paper shows a strategy based on passive force control for collaborative object transportation using Micro Aerial Vehicles (MAVs), focusing on the transportation of a bulky object by two hexacopters. The goal is to develop a robust…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation.…
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…
Heterogeneous autonomous robot teams consisting of multirotor and uncrewed surface vessels (USVs) have the potential to enable various maritime applications, including advanced search-and-rescue operations. A critical requirement of these…