Related papers: Perception-Aware Communication-Free Multi-UAV Coor…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
Selecting safe landing sites in non-cooperative environments is a key step towards the full autonomy of UAVs. However, the existing methods have the common problems of poor generalization ability and robustness. Their performance in unknown…
Low-altitude unmanned aerial vehicle (UAV) swarms are expected to play important role for future intelligent aerial systems due to their great potential to cooperatively accomplish complicated missions effectively. However, there are…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
Coverage control is the problem of navigating a robot swarm to collaboratively monitor features or a phenomenon of interest not known a priori. The problem is challenging in decentralized settings with robots that have limited communication…
Aerial vehicles are revolutionizing applications that require capturing the 3D structure of dynamic targets in the wild, such as sports, medicine, and entertainment. The core challenges in developing a motion-capture system that operates in…
To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios,…
One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing complex tasks or in collaborative scenarios. Although several…
This paper investigates a new scenario of spectrum sharing between unmanned aerial vehicle (UAV) and terrestrial wireless communication, in which a cognitive/secondary UAV transmitter communicates with a ground secondary receiver (SR), in…
In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertainties. The approach relies on the computation of an…
Reliable onboard perception is critical for quadruped robots navigating dynamic environments, where obstacles can emerge from any direction under strict reaction-time constraints. Single-sensor systems face inherent limitations: LiDAR…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
Biologically inspired algorithms for simultaneous localization and mapping (SLAM) such as RatSLAM have been shown to yield effective and robust robot navigation in both indoor and outdoor environments. One drawback however is the…
In recent years, teams of robot and Unmanned Aerial Vehicles (UAVs) have been commissioned by researchers to enable accurate, online wildfire coverage and tracking. While the majority of prior work focuses on the coordination and control of…
In recent years, 3D object perception has become a crucial component in the development of autonomous driving systems, providing essential environmental awareness. However, as perception tasks in autonomous driving evolve, their variants…
Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…
This paper tackles the distributed leader-follower (L-F) control problem for heterogeneous mobile robots in unknown environments requiring obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To prevent an…
Autonomous vehicles rely on a variety of sensors to gather information about their surrounding. The vehicle's behavior is planned based on the environment perception, making its reliability crucial for safety reasons. The active LiDAR…
Autonomous Vehicles (AVs) rely on individual perception systems to navigate safely. However, these systems face significant challenges in adverse weather conditions, complex road geometries, and dense traffic scenarios. Cooperative…