相关论文: LoCUS: A multi-robot loss-tolerant algorithm for s…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…
This study presents an advanced multi-view drone swarm imaging system for the three-dimensional characterization of smoke plume dispersion dynamics. The system comprises a manager drone and four worker drones, each equipped with…
A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
Aerial operation in turbulent environments is a challenging problem due to the chaotic behavior of the flow. This problem is made even more complex when a team of aerial robots is trying to achieve coordinated motion in turbulent wind…
Low-cost mini-drones with advanced sensing and maneuverability enable a new class of intelligent sensing systems. To achieve the full potential of such drones, it is necessary to develop new enhanced formulations of both common and emerging…
This paper presents a new algorithm for autonomous multitarget tracking of resident space objects using optical angles-only measurements from a spaceborne observer. To enable autonomous angles-only navigation of spacecraft swarms, an…
The dynamic of real-world optimization problems raises new challenges to the traditional particle swarm optimization (PSO). Responding to these challenges, the dynamic optimization has received considerable attention over the past decade.…
Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…
Volcanoes emit large amounts of CO2, directly influencing human lives. Mapping volcanic gas emissions helps to forecast eruptions and understand the impact of volcanoes on climate and the environment. Drone-based gas sensing significantly…
Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widespread adoption in research and education. To address this…
We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction of movement to approach the source using only field intensity…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing…
Advancements in onboard computing mean remote sensing agents can employ state-of-the-art computer vision and machine learning at the edge. These capabilities can be leveraged to unlock new rare, transient, and pinpoint measurements of…