相关论文: Enabling Relative Localization for Nanodrone Swarm…

The objective of this paper is to determine the position of a single mobile robot in a swarm using dead reckoning techniques. We investigate the accuracy of navigation by using this process. The paper begins with the research background and…

The use of amateur drones (ADrs) is expected to significantly increase over the upcoming years. However, regulations do not allow such drones to fly over all areas, in addition to typical altitude limitations. As a result, there is an…

To achieve high fidelity haptic rendering of soft objects in a high mobility virtual environment, we propose a novel haptic display DandelionTouch. The tactile actuators are delivered to the fingertips of the user by a swarm of drones.…

Passive geolocation by multiple unmanned aerial vehicles (UAVs) covers a wide range of military and civilian applications including rescue, wild life tracking and electronic warfare. The sensor-target geometry is known to significantly…

Autonomous aerial tracking with drones offers vast potential for surveillance, cinematography, and industrial inspection applications. While single-drone tracking systems have been extensively studied, swarm-based target tracking remains…

Coordinated flight of multiple drones allows to achieve tasks faster such as search and rescue and infrastructure inspection. Thus, pushing the state-of-the-art of aerial swarms in navigation speed and robustness is of tremendous benefit.…

The proliferation of drones, or unmanned aerial vehicles (UAVs), has raised significant safety concerns due to their potential misuse in activities such as espionage, smuggling, and infrastructure disruption. This paper addresses the…

We present NAVREN-RL, an approach to NAVigate an unmanned aerial vehicle in an indoor Real ENvironment via end-to-end reinforcement learning RL. A suitable reward function is designed keeping in mind the cost and weight constraints for…

Due to the noisy indoor radio propagation channel, Radio Frequency (RF)-based location determination systems usually require a tedious calibration phase to construct an RF fingerprint of the area of interest. This fingerprint varies with…

This paper presents the design and development of an intelligent subsystem that includes a novel low-power radar sensor integrated into an autonomous racing perception pipeline to robustly estimate the position and velocity of dynamic…

Accurate self and relative state estimation are the critical preconditions for completing swarm tasks, e.g., collaborative autonomous exploration, target tracking, search and rescue. This paper proposes Swarm-LIO: a fully decentralized…

We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation for drones is challenging due to complex aerodynamic…

The forthcoming era of massive drone delivery deployment in urban environments raises a need to develop reliable control and monitoring systems. While active solutions, i.e., wireless sharing of a real-time location between air traffic…

In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…

This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…

Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…

Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…

Drones will have extensive use cases across various commercial, government, and military sectors, ranging from delivery of consumer goods to search and rescue operations. To maintain the safety and security of people and infrastructure, it…

This paper presents the design and implementation of a relative localization system for SnailBot, a modular self reconfigurable robot. The system integrates ArUco marker recognition, optical flow analysis, and IMU data processing into a…

Nano-size unmanned aerial vehicles (UAVs) hold enormous potential to perform autonomous operations in complex environments, such as inspection, monitoring or data collection. Moreover, their small size allows safe operation close to humans…