相关论文: LoRa Backscatter Assisted State Estimator for Micr…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Reinforcement learning (RL) has emerged as a powerful paradigm for achieving online agile navigation with quadrotors. Despite this success, policies trained via standard RL typically fail to generalize across significant dynamic variations,…
State-Space Models (SSMs) have attracted considerable attention in Image Restoration (IR) due to their ability to scale linearly sequence length while effectively capturing long-distance dependencies. However, deploying SSMs to edge devices…
This paper presents a groundbreaking approach - the first online automatic geometric calibration method for radar and camera systems. Given the significant data sparsity and measurement uncertainty in radar height data, achieving automatic…
The use of the LoRa communication protocol in a new generation of transceivers is attractive for search and rescue(SaR) procedures because they can operate in harsh environmentscovering vast areas while maintaining a low power…
Autonomous navigation in unknown environments with obstacles remains challenging for micro aerial vehicles (MAVs) due to their limited onboard computing and sensing resources. Although various collision avoidance methods have been…
We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation, especially when using narrow field of…
Industrial facilities often require periodic visual inspections of key installations. Examining these points of interest is time consuming, potentially hazardous or require special equipment to reach. MAVs are ideal platforms to automate…
This work introduces a novel analytical model for estimating the airspeed of fixed-wing Unmanned Aerial Vehicles (UAVs) using solely propeller power and rotational speed measurements. The model can be used to replace Pitot-tube-based…
Autonomous driving is an important trend of the automotive industry. The continuous research towards this goal requires a precise reference vehicle state estimation under all circumstances in order to develop and test autonomous vehicle…
In multi-robot exploration, a team of mobile robot is tasked with efficiently mapping an unknown environments. While most exploration planners assume omnidirectional sensors like LiDAR, this is impractical for small robots such as drones,…
Multi-Agent Reinforcement Learning (MARL) has emerged as a powerfulparadigm for cooperative decision-making in connected autonomous vehicles(CAVs); however, existing approaches often fail to guarantee stability, optimality,and…
Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods…
Autonomous micro-mobility platforms face challenges from the perspective of the typical deployment environment: large indoor spaces or urban areas that are potentially crowded and highly dynamic. While social navigation algorithms have…
This paper presents the design, implementation and evaluation of waveSLAM, a low-cost mobile robot system that uses the millimetre wave (mmWave) communication devices to enhance the indoor mapping process targeting environments with reduced…
Sparse and feature SLAM methods provide robust camera pose estimation. However, they often fail to capture the level of detail required for inspection and scene awareness tasks. Conversely, dense SLAM approaches generate richer scene…
Unmanned Aerial Vehicles (UAVs) play a crucial role in Maritime Search and Rescue (MSAR), contributing to the improvement of rescue efficiency and reduction of casualties. Typically, UAVs equipped with cameras collect data from disaster…
The use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
This paper presents an online initialization method for bootstrapping the optimization-based monocular visual-inertial odometry (VIO). The method can online calibrate the relative transformation (spatial) and time offsets (temporal) among…