相关论文: Aerial-Ground collaborative sensing: Third-Person …

Mobile telepresence robots (MTRs) have become increasingly popular in the expanding world of remote work, providing new avenues for people to actively participate in activities at a distance. However, humans operating MTRs often have…

We present a cooperative aerial-ground search-and-rescue (SAR) framework that pairs two unmanned aerial vehicles (UAVs) with an unmanned ground vehicle (UGV) to achieve rapid victim localization and obstacle-aware navigation in unknown…

This article considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and…

Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…

Cooperative grasping and transportation require effective coordination to complete the task. This study focuses on the approach leveraging force-sensing feedback, where robots use sensors to detect forces applied by others on an object to…

Recent advancements in UAV technology have spurred interest in developing multi-UAV aerial surveying systems for use in confined environments where GNSS signals are blocked or jammed. This paper focuses airborne magnetic surveying…

This work establishes COMPRA, a compact and reactive autonomy framework for fast deployment of Micro Aerial Vehicles (MAVs) in subterranean Search-and-Rescue (SAR) missions. A COMPRA-enabled MAV is able to autonomously explore previously…

We present a fully integrated autonomous multi- robot aerial system for finding and collecting moving and static objects with unknown locations. This task addresses multiple relevant problems in search and rescue (SAR) robotics such as…

While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in…

Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…

An application of stereo thermal vision to perform preliminary inspection operations of electrical power lines by a particular class of small Unmanned Aerial Vehicles (UAVs), aka Micro Unmanned Aerial Vehicles (MAVs), is presented in this…

Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to…

As autonomous robotic systems become increasingly mature, users will want to specify missions at the level of intent rather than in low-level detail. Language is an expressive and intuitive medium for such mission specification. However,…

Bird's-eye view (BEV) maps are an important geometrically structured representation widely used in robotics, in particular self-driving vehicles and terrestrial robots. Existing algorithms either require depth information for the geometric…

Climate-induced disasters are and will continue to be on the rise, and thus search-and-rescue (SAR) operations, where the task is to localize and assist one or several people who are missing, become increasingly relevant. In many cases the…

With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…

Search-and-rescue (SaR) in unknown environments requires precise, optimal, and fast decisions. Robots are promising candidates for autonomously performing SaR tasks in unknown environments. While humans use their heuristics to effectively…

Advances in autonomy offer the potential for dramatic positive outcomes in a number of domains, yet enabling their safe deployment remains an open problem. This work's motivating question is: In safety-critical settings, can we avoid the…

Cooperative Unmanned Aerial Systems (UASs) in GPS-denied environments demand an accurate pose-localization system to ensure efficient operation. In this paper we present a novel visual relative localization system capable of monitoring a…

We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…