相关论文: Towards Resilient Autonomous Navigation of Drones

State estimation is an important aspect in many robotics applications. In this work, we consider the task of obtaining accurate state estimates for robotic systems by enhancing the dynamics model used in state estimation algorithms.…

With the goal of efficiently computing collision-free robot motion trajectories in dynamically changing environments, we present results of a novel method for Heuristics Informed Robot Online Path Planning (HIRO). Dividing robot…

Object detection precision is crucial for ensuring the safety and efficacy of autonomous driving systems. The quality of acquired images directly influences the ability of autonomous driving systems to correctly recognize and respond to…

As drones are getting more and more entangled in our society, more untrained users require the capability to operate them. This scenario is to be achieved through the development of artificial intelligence capabilities assisting the human…

The field of high-speed autonomous racing has seen significant advances in recent years, with the rise of competitions such as RoboRace and the Indy Autonomous Challenge providing a platform for researchers to develop software stacks for…

Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…

Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…

Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…

In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…

Stability and safety are critical properties for successful deployment of automatic control systems. As a motivating example, consider autonomous mobile robot navigation in a complex environment. A control design that generalizes to…

Multicopter drones are becoming a key platform in several application domains, enabling precise on-the-spot sensing and/or actuation. We focus on the case where the drone must process the sensor data in order to decide, depending on the…

Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…

Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety…

Edge computing enables data processing closer to the source, significantly reducing latency, an essential requirement for real-time vision-based analytics such as object detection in surveillance and smart city environments. However, these…

This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…

Topology design is a critical task for the reliability, economic operation, and resilience of distribution systems. This paper proposes a distributionally robust optimization (DRO) model for designing the topology of a new distribution…

Autonomous Mobility-on-Demand (AMoD) services offer an opportunity for improving passenger service while reducing pollution and energy consumption through effective vehicle coordination. A primary challenge in the autonomous fleets…

Communication networks are used today everywhere and on every scale: starting from small Internet of Things (IoT) networks at home, via campus and enterprise networks, and up to tier-one networks of Internet providers. Accordingly, network…

The ability to autonomously navigate safely, especially within dynamic environments, is paramount for mobile robotics. In recent years, DRL approaches have shown superior performance in dynamic obstacle avoidance. However, these…

Making AI safe and dependable requires the generation of dependable models and dependable execution of those models. We propose redundant execution as a well-known technique that can be used to ensure reliable execution of the AI model.…