Related papers: Perception-Aware Communication-Free Multi-UAV Coor…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
We propose a novel method for autonomous legged robot navigation in densely vegetated environments with a variety of pliable/traversable and non-pliable/untraversable vegetation. We present a novel few-shot learning classifier that can be…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
We propose WildFusion, a novel approach for 3D scene reconstruction in unstructured, in-the-wild environments using multimodal implicit neural representations. WildFusion integrates signals from LiDAR, RGB camera, contact microphones,…
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…
A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…
This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas which are always subjected to the presence of static and dynamic obstacles. The focus of the…
Cooperative visual semantic navigation is a foundational capability for aerial robot teams operating in unknown environments. However, achieving robust open-vocabulary object-goal navigation remains challenging due to the computational…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
UAV navigation in unstructured outdoor environments using passive monocular vision is hindered by the substantial visual domain gap between simulation and reality. While 3D Gaussian Splatting enables photorealistic scene reconstruction from…
Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…
Autonomous aerial tracking with drones offers vast potential for surveillance, cinematography, and industrial inspection applications. While single-drone tracking systems have been extensively studied, swarm-based target tracking remains…
We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…
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…
In the last few years, robotic technology has been increasingly employed in agriculture to develop intelligent vehicles that can improve productivity and competitiveness. Accurate and robust environmental perception is a critical…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
The efficacy of UAV swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry…