Related papers: CosFly: Plan in the Matrix, Fly in the World

Precise object placement remains underexplored in aerial manipulation, where most systems rely on predefined target coordinates and focus primarily on grasping and control. Specifying exact placement poses, however, is cumbersome in…

This paper aims to increase the safety and reliability of executing trajectories planned for robots with non-trivial dynamics given a light-weight, approximate dynamics model. Scenarios include mobile robots navigating through workspaces…

The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…

Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…

Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation…

This paper presents a two-stage trajectory planning framework for a multi-UAV rigid-payload cascaded transportation system, aiming to address planning challenges in densely cluttered environments. In Stage I, an Enhanced Tube-RRT* algorithm…

This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part…

This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…

We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation, especially when using narrow field of…

Foundation models (FM) have shown immense human-like capabilities for generating digital media. However, foundation models that can freely sense, interact, and actuate the physical domain is far from being realized. This is due to 1)…

Visual Active Tracking (VAT) aims to control cameras to follow a target in 3D space, which is critical for applications like drone navigation and security surveillance. However, it faces two key bottlenecks in real-world deployment:…

Fully decentralized, multiagent trajectory planners enable complex tasks like search and rescue or package delivery by ensuring safe navigation in unknown environments. However, deconflicting trajectories with other agents and ensuring…

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…

Unmanned aerial vehicles are rapidly transforming multiple applications, from agricultural and infrastructure monitoring to logistics and defense. Introducing greater autonomy to these systems can simultaneously make them more effective as…

Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…

Planning and acting in 3D environments is a fundamental capability for robotic manipulation in the real world. Although prior work has explored predictive flow planners to guide 3D manipulation, existing approaches often rely on modular…

Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…

Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…

Unmanned aerial vehicles (UAVs) have emerged as powerful embodied agents. One of the core abilities is autonomous navigation in large-scale three-dimensional environments. Existing navigation policies, however, are typically optimized for…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…