相关论文: Space Non-cooperative Object Active Tracking with …

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

In this paper, a novel deep reinforcement learning (DRL)-based method is proposed to navigate the robot team through unknown complex environments, where the geometric centroid of the robot team aims to reach the goal position while avoiding…

The volume of space debris currently orbiting the Earth is reaching an unsustainable level at an accelerated pace. The detection, tracking, identification, and differentiation between orbit-defined, registered spacecraft, and rogue/inactive…

Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…

Object transportation could be a challenging problem for a single robot due to the oversize and/or overweight issues. A multi-robot system can take the advantage of increased driving power and more flexible configuration to solve such a…

Reinforcement learning methods as a promising technique have achieved superior results in the motion planning of free-floating space robots. However, due to the increase in planning dimension and the intensification of system dynamics…

Tracking an object's 6D pose, while either the object itself or the observing camera is moving, is important for many robotics and augmented reality applications. While exploiting temporal priors eases this problem, object-specific…

Online Multi-Object Tracking (MOT) from videos is a challenging computer vision task which has been extensively studied for decades. Most of the existing MOT algorithms are based on the Tracking-by-Detection (TBD) paradigm combined with…

Uncorrelated optical space observation association represents a classic needle in a haystack problem. The objective being to find small groups of observations that are likely of the same resident space objects (RSOs) from amongst the much…

Exploration in an unknown environment is the core functionality for mobile robots. Learning-based exploration methods, including convolutional neural networks, provide excellent strategies without human-designed logic for the feature…

One of the crucial problems in visual tracking is how the object is represented. Conventional appearance-based trackers are using increasingly more complex features in order to be robust. However, complex representations typically not only…

Existing deep trackers mainly use convolutional neural networks pre-trained for generic object recognition task for representations. Despite demonstrated successes for numerous vision tasks, the contributions of using pre-trained deep…

Autonomous navigation and path-planning around non-cooperative space objects is an enabling technology for on-orbit servicing and space debris removal systems. The navigation task includes the determination of target object motion, the…

Autonomous systems need to localize and track surrounding objects in 3D space for safe motion planning. As a result, 3D multi-object tracking (MOT) plays a vital role in autonomous navigation. Most MOT methods use a tracking-by-detection…

In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…

The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

Robotic manipulation of unknown objects is an important field of research. Practical applications occur in many real-world settings where robots need to interact with an unknown environment. We tackle the problem of reactive grasping by…

Multi-object tracking (MOT) is a crucial component of situational awareness in military defense applications. With the growing use of unmanned aerial systems (UASs), MOT methods for aerial surveillance is in high demand. Application of MOT…

Deep reinforcement learning (DRL) has achieved remarkable progress in online path planning tasks for multi-UAV systems. However, existing DRL-based methods often suffer from performance degradation when tackling unseen scenarios, since the…