相关论文: Preliminary Design of the Dragonfly Navigation Fil…
The detection and characterisation of extra-solar planets is a major theme driving modern astronomy, with the vast majority of such measurements being achieved by Doppler radial-velocity and transit observations. Another technique -- direct…
This paper introduces a reactive navigation framework for mobile robots in 3-dimensional (3D) space. The proposed approach does not rely on the global map information and achieves fast navigation by employing a tentacle based sampling and…
This paper investigates the orientation, position, and linear velocity estimation problem of a rigid-body moving in three-dimensional (3D) space with six degrees-of-freedom (6 DoF). The highly nonlinear navigation kinematics are formulated…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
Future lunar missions will require autonomous rovers capable of traversing tens of kilometers across challenging terrain while maintaining accurate localization and producing globally consistent maps. However, the absence of global…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
We present a challenging dataset, the TartanAir, for robot navigation tasks and more. The data is collected in photo-realistic simulation environments with the presence of moving objects, changing light and various weather conditions. By…
This paper presents a new framework to use images as the inputs for the controller to have autonomous flight, considering the noisy indoor environment and uncertainties. A new Proportional-Integral-Derivative-Accelerated (PIDA) control with…
Autonomous navigation is one of the main enabling technologies for future space missions. While conventional spacecraft are navigated through ground stations, their employment for deep-space CubeSats yields costs comparable to those of the…
Radar has become an essential sensor for autonomous navigation, especially in challenging environments where camera and LiDAR sensors fail. 4D single-chip millimeter-wave radar systems, in particular, have drawn increasing attention thanks…
In this paper, emerging deep learning techniques are leveraged to deal with Mars visual navigation problem. Specifically, to achieve precise landing and autonomous navigation, a novel deep neural network architecture with double branches…
Realistic long-horizon tasks like image-goal navigation involve exploratory and exploitative phases. Assigned with an image of the goal, an embodied agent must explore to discover the goal, i.e., search efficiently using learned priors.…
We present a description of the Dragonfly Wide Field Survey (DWFS), a deep photometric survey of a wide area of sky. The DWFS covers 330 $\mathrm{deg}^2$ in the equatorial GAMA fields and the Stripe 82 fields in the SDSS $g$ and $r$ bands.…
This work introduces a novel approach for Titan exploration based on soft morphing aerial robots leveraging the use of flexible adaptive materials. The controlled deformation of the multirotor arms, actuated by a combination of a pneumatic…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
The main purpose of this work is to perform an analysis of realistic new trajectories for a robotic mission to Saturn's largest moon, Titan, in order to demonstrate the great advantages related to the Direct Fusion Drive (DFD). The DFD is a…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
The extraordinary aerial agility of hummingbirds and insects continues to inspire the design of flapping-wing drones. To replicate and analyze such flight, computational fluid dynamics (CFD) simulations that couple flow solvers with rigid…
The accurate localization and tracking of dynamic targets, such as equipment, people, vehicles, drones, robots, and the assets that they interact with in GPS-denied indoor environments is critical to enabling safe and efficient operations…
Autonomous drone racing competitions are a proxy to improve unmanned aerial vehicles' perception, planning, and control skills. The recent emergence of autonomous nano-sized drone racing imposes new challenges, as their ~10cm form factor…