相关论文: Towards Efficient Full Pose Omnidirectionality wit…
In this paper, we present a multi-camera visual odometry (VO) system for an autonomous vehicle. Our system mainly consists of a virtual LiDAR and a pose tracker. We use a perspective transformation method to synthesize a surround-view image…
Triphibious robots capable of multi-domain motion and cross-domain transitions are promising to handle complex tasks across diverse environments. However, existing designs primarily focus on dual-mode platforms, and some designs suffer from…
The tailsitter vertical takeoff and landing (VTOL) UAV is widely used due to its lower dead weight, which eliminates the actuators and mechanisms for tilting. However, the tailsitter UAV is susceptible to wind disturbances in multi-rotor…
Morphing aerial robots have the potential to transform autonomous flight, enabling navigation through cluttered environments, perching, and seamless transitions between aerial and terrestrial locomotion. Yet mid-flight reconfiguration…
Panoramic imagery, with its 360{\deg} field of view, offers comprehensive information to support Multi-Object Tracking (MOT) in capturing spatial and temporal relationships of surrounding objects. However, most MOT algorithms are tailored…
Autonomous driving holds transformative potential but remains fundamentally constrained by the limited perception and isolated decision-making with standalone intelligence. While recent multi-agent approaches introduce cooperation, they…
As virtual reality gains popularity, the demand for controllable creation of immersive and dynamic omnidirectional videos (ODVs) is increasing. While previous text-to-ODV generation methods achieve impressive results, they struggle with…
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…
Multirotors can be effectively applied to various tasks, such as transportation, investigation, exploration, and lifesaving, depending on the type of payload. However, due to the nature of multirotors, the payload loaded on the multirotor…
Recently, quadrotors are gaining significant attention in aerial transportation and delivery. In these scenarios, an accurate estimation of the external force is as essential as the 6 degree-of-freedom (DoF) pose since it is of vital…
To overcome the limitations of current parafoil precision landing capabilities, an efficient real-time convex optimized guidance and control strategy is presented. Successive convexification of the parafoil guidance problem guarantees local…
In this paper, we introduce the Phoenix drone: the first completely open-source tail-sitter micro aerial vehicle (MAV) platform. The vehicle has a highly versatile, dual-rotor design and is engineered to be low-cost and easily…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…
Hybrid unmanned aircraft can significantly increase the potential of micro air vehicles, because they combine hovering capability with a wing for fast and efficient forward flight. However, these vehicles are very difficult to control,…
Visual Odometry (VO) accumulates a positional drift in long-term robot navigation tasks. Although Convolutional Neural Networks (CNNs) improve VO in various aspects, VO still suffers from moving obstacles, discontinuous observation of…
Monocular omnidirectional visual odometry (OVO) systems leverage 360-degree cameras to overcome field-of-view limitations of perspective VO systems. However, existing methods, reliant on handcrafted features or photometric objectives, often…
In various industrial sectors, inspection and maintenance tasks using UAV (Unmanned Aerial Vehicle) require substantial force application to ensure effective adherence and stable contact, posing significant challenges to existing solutions.…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an…
Aircraft that can launch ballistically and convert to autonomous, free flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard…