Related papers: Relative State Estimation using Event-Based Propel…
Event cameras are a new type of sensors that are different from traditional cameras. Each pixel is triggered asynchronously by event. The trigger event is the change of the brightness irradiated on the pixel. If the increment or decrement…
Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…
Accurate measurement of shock wave motion parameters with high spatiotemporal resolution is essential for applications such as power field testing and damage assessment. However, significant challenges are posed by the fast, uneven…
The diffusion of drones presents significant security and safety challenges. Traditional surveillance systems, particularly conventional frame-based cameras, struggle to reliably detect these targets due to their small size, high agility,…
We introduce a novel method for measuring properties of periodic phenomena with an event camera, a device asynchronously reporting brightness changes at independently operating pixels. The approach assumes that for fast periodic phenomena,…
Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…
An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor agents observe a dynamic process and sporadically transmit their measurements to estimator agents…
Event-based cameras are ideal for line-based motion estimation, since they predominantly respond to edges in the scene. However, accurately determining the camera displacement based on events continues to be an open problem. This is because…
State estimation is a crucial component for the successful implementation of robotic systems, relying on sensors such as cameras, LiDAR, and IMUs. However, in real-world scenarios, the performance of these sensors is degraded by challenging…
Modular robots have been rising in popularity for a variety of applications, and autonomous midair docking is a necessary task for real world deployment of these robots. We present a state estimator based on the extended Kalman filter for…
This paper develops a data-based moving horizon estimation (MHE) method for agile quadrotors. Accurate state estimation of the system is paramount for precise trajectory control for agile quadrotors; however, the high level of aerodynamic…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…
We present a model-based approach to wind velocity profiling using motion perturbations of a multirotor unmanned aircraft system (UAS) in both hovering and steady ascending flight. A state estimation framework was adapted to a set of…
Due to their capability of acquiring aerial imagery, camera-equipped Unmanned Aerial Vehicles (UAVs) are very cost-effective tools for acquiring traffic information. However, not enough attention has been given to the validation of the…
Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…
This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…
This paper studies remote state estimation in the presence of an eavesdropper. A sensor transmits local state estimates over a packet dropping link to a remote estimator, while an eavesdropper can successfully overhear each sensor…
Event cameras generate asynchronous signals in response to pixel-level brightness changes, offering a sensing paradigm with theoretically microsecond-scale latency that can significantly enhance the performance of multi-sensor systems.…
We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D…