Related papers: The Unified Autonomy Stack: Toward a Blueprint for…
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive…
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…
Advances in hardware technology have facilitated more integration of sophisticated software toward augmenting the development of Unmanned Vehicles (UVs) and mitigating constraints for onboard intelligence. As a result, UVs can operate in…
In emergency response missions, first responders must navigate cluttered indoor environments where occlusions block direct line-of-sight, concealing both life-threatening hazards and victims in need of rescue. We present STARC, a…
Multi-robot collision-free and deadlock-free navigation in cluttered environments with static and dynamic obstacles is a fundamental problem for many applications. We introduce MRNAV, a framework for planning and control to effectively…
Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…
Autonomous mobility systems increasingly operate in dense and dynamic environments where perception occlusions, limited sensing coverage, and multi-agent interactions pose major challenges. While onboard sensors provide essential local…
Accurate perception of UAVs in complex low-altitude environments is critical for airspace security and related intelligent systems. Developing reliable solutions requires large-scale, accurately annotated, and multimodal data. However,…
Despite the growing impact of Unmanned Aerial Vehicles (UAVs) across various industries, most of current available solutions lack for a robust autonomous navigation system to deal with the appearance of obstacles safely. This work presents…
Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…
The deployment of mobile robots in large-scale, multi-floor environments demands navigation systems that achieve spatial scalability without compromising local kinematic precision. Traditional navigation stacks, reliant on monolithic…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
In radar systems, unimodular (or constant-modulus) waveform design plays an important role in achieving better clutter/interference rejection, as well as a more accurate estimation of the target parameters. The design of such sequences has…
Robust 3D occupancy prediction is essential for autonomous driving, particularly under adverse weather conditions where traditional vision-only systems struggle. While the fusion of surround-view 4D radar and cameras offers a promising…
The success of surveillance applications involving small unmanned aerial vehicles (UAVs) depends on how long the limited on-board power would persist. To cope with this challenge, alternative renewable sources of lift are sought. One…
This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…
LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…
Unmanned aerial vehicles (UAVs) are often used for navigating dangerous terrains, however they are difficult to pilot. Due to complex input-output mapping schemes, limited perception, the complex system dynamics and the need to maintain a…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…