相关论文: The Open Vision Computer: An Integrated Sensing an…
We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more informative observation. Enabling robots to make the same kind of viewpoint choice is critical for human-centered operations,…
Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…
There is an increased interest in the use of Unmanned Aerial Vehicles (UAVs) for agriculture, military, disaster management and aerial photography around the world. UAVs are scalable, flexible and are useful in various environments where…
Autonomous robots are used as the tool to solve many kinds of problems, such as environmental mapping and monitoring. Either for adverse conditions related to the human presence or even for the need to reduce costs, it is certain that many…
In the past decade, unmanned aerial vehicles (UAVs) have been widely used in various civilian applications, most of which only require a single UAV. In the near future, it is expected that more and more applications will be enabled by the…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
This paper presents the development of a real time tracking algorithm that runs on a 1.2 GHz PC/104 computer on-board a small UAV. The algorithm uses zero mean normalized cross correlation to detect and locate an object in the image. A…
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple…
Optical wireless communication (OWC) is a promising technology for supporting data intensive services in indoor environments due to its large unregulated spectrum, high spatial reuse, and potential for multigigabit data rates. In…
Cooperative Localization is a promising approach to achieving safe quadrotor formation flight through precise positioning via low-cost inter-drone sensors. This paper develops an observability-aware control principle tailored to quadrotor…
Autonomous Vehicles (AVs) redefine transportation with sophisticated technology, integrating sensors, cameras, and intricate algorithms. Implementing machine learning in AV perception demands robust hardware accelerators to achieve…
Aerial autonomous machines (Drones) has a plethora of promising applications and use cases. While the popularity of these autonomous machines continues to grow, there are many challenges, such as endurance and agility, that could hinder the…
Control co-design (CCD) is a technique for improving the closed-loop performance of systems through the coordinated design of both plant parameters and an optimal control policy. While model predictive control (MPC) is an attractive control…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…
This paper introduces an open source platform to support the rapid development of computer vision applications at scale. The platform puts the efficient data development at the center of the machine learning development process, integrates…
The cornerstone of autonomous vehicles (AV) is a solid perception system, where camera encoders play a crucial role. Existing works usually leverage pre-trained Convolutional Neural Networks (CNN) or Vision Transformers (ViTs) designed for…
In this paper, we propose an efficient, receding horizon, local adaptive low-level planner as the middle layer between our original planner and controller. Our method is named as corridor-based model predictive contouring control (CMPCC)…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
A collision avoidance system based on simple digital cameras would help enable the safe integration of small UAVs into crowded, low-altitude environments. In this work, we present an obstacle avoidance system for small UAVs that uses a…