相关论文: Learning to SLAM on the Fly in Unknown Environment…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…

Swarm navigation in cluttered environments is a grand challenge in robotics. This work combines deep learning with first-principle physics through differentiable simulation to enable autonomous navigation of multiple aerial robots through…

This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…

The ability to grasp ordinary and potentially never-seen objects is an important feature in both domestic and industrial robotics. For a system to accomplish this, it must autonomously identify grasping locations by using information from…

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of…

Smart and agile drones are fast becoming ubiquitous at the edge of the cloud. The usage of these drones are constrained by their limited power and compute capability. In this paper, we present a Transfer Learning (TL) based approach to…

Safe navigation of drones in the presence of adversarial physical attacks from multiple pursuers is a challenging task. This paper proposes a novel approach, asynchronous multi-stage deep reinforcement learning (AMS-DRL), to train…

We present an approach for agents to learn representations of a global map from sensor data, to aid their exploration in new environments. To achieve this, we embed procedures mimicking that of traditional Simultaneous Localization and…

Place recognition is one of the most challenging problems in computer vision, and has become a key part in mobile robotics and autonomous driving applications for performing loop closure in visual SLAM systems. Moreover, the difficulty of…

Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior works primarily study ImageNav for ground robots, enabling…

Deep Reinforcement Learning is quickly becoming a popular method for training autonomous Unmanned Aerial Vehicles (UAVs). Our work analyzes the effects of measurement uncertainty on the performance of Deep Reinforcement Learning (DRL) based…

Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

The problem of classifying turbulent environments from partial observation is key for some theoretical and applied fields, from engineering to earth observation and astrophysics, e.g. to precondition searching of optimal control policies in…

Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of…

This paper focuses on the acquisition of mapless navigation skills within unknown environments. We introduce the Skill Q-Network (SQN), a novel reinforcement learning method featuring an adaptive skill ensemble mechanism. Unlike existing…

To aide simultaneous localization and mapping (SLAM), future perception systems will incorporate forms of scene understanding. In a step towards fully integrated probabilistic geometric scene understanding, localization and mapping we…

The vigorous developments of Internet of Things make it possible to extend its computing and storage capabilities to computing tasks in the aerial system with collaboration of cloud and edge, especially for artificial intelligence (AI)…

Safety is an essential component for deploying reinforcement learning (RL) algorithms in real-world scenarios, and is critical during the learning process itself. A natural first approach toward safe RL is to manually specify constraints on…