相关论文: Learning Vision-based Flight in Drone Swarms by Im…

This paper introduces a testbed to study distributed sensing problems of Unmanned Aerial Vehicles (UAVs) exhibiting swarm intelligence. Several Smart City applications, such as transport and disaster response, require efficient collection…

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…

This paper addresses the problem of autonomous task allocation by a swarm of autonomous, interactive drones in large-scale, dynamic spatio-temporal environments. When each drone independently determines navigation, sensing, and recharging…

Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

Aerial navigation in GPS-denied, indoor environments, is still an open challenge. Drones can perceive the environment from a richer set of viewpoints, while having more stringent compute and energy constraints than other autonomous…

Developing the flocking behavior for a dynamic squad of fixed-wing UAVs is still a challenge due to kinematic complexity and environmental uncertainty. In this paper, we deal with the decentralized flocking and collision avoidance problem…

Unmanned aerial vehicle (UAV) swarms must exploit machine learning (ML) in order to execute various tasks ranging from coordinated trajectory planning to cooperative target recognition. However, due to the lack of continuous connections…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

In recent years, using a network of autonomous and cooperative unmanned aerial vehicles (UAVs) without command and communication from the ground station has become more imperative, in particular in search-and-rescue operations, disaster…

Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…

Drones are also known as UAVs are originally designed for military purposes. With the technological advances, they can be seen in most of the aspects of life from filming to logistics. The increased use of drones made it sometimes essential…

Existing approaches for transporting and manipulating cable-suspended loads using multiple UAVs along reference trajectories typically rely on either centralized control architectures or reliable inter-agent communication. In this work, we…

We propose a novel concept of augmented reality (AR) human-drone interaction driven by RL-based swarm behavior to achieve intuitive and immersive control of a swarm formation of unmanned aerial vehicles. The DroneARchery system developed by…

The ability to navigate from visual observations in unfamiliar environments is a core component of intelligent agents and an ongoing challenge for Deep Reinforcement Learning (RL). Street View can be a sensible testbed for such RL agents,…

This paper introduces a safe swarm of drones capable of performing landings in crowded environments robustly by relying on Reinforcement Learning techniques combined with Safe Learning. The developed system allows us to teach the swarm of…

Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…

Dynamical systems consisting of a set of autonomous agents face the challenge of having to accomplish a global task, relying only on local information. While centralized controllers are readily available, they face limitations in terms of…