相关论文: Learning Agile, Vision-based Drone Flight: from Si…

Unmanned Aerial Vehicles (UAV) have been standing out due to the wide range of applications in which they can be used autonomously. However, they need intelligent systems capable of providing a greater understanding of what they perceive to…

Learning from demonstration for motion planning is an ongoing research topic. In this paper we present a model that is able to learn the complex mapping from raw 2D-laser range findings and a target position to the required steering…

This paper presents a novel system for autonomous, vision-based drone racing combining learned data abstraction, nonlinear filtering, and time-optimal trajectory planning. The system has successfully been deployed at the first autonomous…

Over the past decades, progress in deployable autonomous flight systems has slowly stagnated. This is reflected in today's production air-crafts, where pilots only enable simple physics-based systems such as autopilot for takeoff, landing,…

Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

Flying drones can be used in a wide range of applications and services from surveillance to package delivery. To ensure robust control and safety of drone operations, cellular networks need to provide reliable wireless connectivity to drone…

We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…

Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task. It needs to ensure collision-free path planning in real-time, especially when the multi-UAV systems can become very crowded on…

We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…

The significant components of any successful autonomous flight system are task completion and collision avoidance. Most deep learning algorithms successfully execute these aspects under the environment and conditions they are trained.…

Learning visuomotor policies in simulation is much safer and cheaper than in the real world. However, due to discrepancies between the simulated and real data, simulator-trained policies often fail when transferred to real robots. One…

Data-driven simulators promise high data-efficiency for driving policy learning. When used for modelling interactions, this data-efficiency becomes a bottleneck: Small underlying datasets often lack interesting and challenging edge cases…

We investigate how to utilize predictive models for selecting appropriate motion planning strategies based on perception uncertainty estimation for agile unmanned aerial vehicle (UAV) navigation tasks. Although there are variety of motion…

Due to noisy actuation and external disturbances, tuning controllers for high-speed flight is very challenging. In this paper, we ask the following questions: How sensitive are controllers to tuning when tracking high-speed maneuvers? What…

We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…

With the increase in use of Unmanned Aerial Vehicles (UAVs)/drones, it is important to detect and identify causes of failure in real time for proper recovery from a potential crash-like scenario or post incident forensics analysis. The…

Recent research on deep learning, a set of machine learning techniques able to learn deep architectures, has shown how robotic perception and action greatly benefits from these techniques. In terms of spacecraft navigation and control…

Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…

Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…