相关论文: FLAGRED -- Fuzzy Logic-based Algorithm Generalizin…

This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…

Most reinforcement learning(RL)-based methods for drone racing target fixed, obstacle-free tracks, leaving the generalization to unknown, cluttered environments largely unaddressed. This challenge stems from the need to balance racing speed…

Fault detection methods have their pros and cons. Thus, it is possible that some methods can complement each other and offer consequently better diagnostic systems. The integration of various characteristics is a way to develop "hybrid"…

Given the importance of forests and their role in maintaining the ecological balance, which directly affects the planet, the climate, and the life on this planet, this research presents the problem of forest fire monitoring using drones.…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

Accurately modeling friction in robotics remains a core challenge, as robotics simulators like MuJoCo and PyBullet use simplified friction models or heuristics to balance computational efficiency with accuracy, where these simplifications…

Safe Reinforcement Learning (RL) is crucial for achieving high performance while ensuring safety in real-world applications. However, the complex interplay of multiple uncertainty sources in real environments poses significant challenges…

An autonomous drone flying near obstacles needs to be able to detect and avoid the obstacles or it will collide with them. In prior work, drones can detect and avoid walls using data from camera, ultrasonic or laser sensors mounted either…

Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturbances and unpredicted phenomena in the environment where…

Interpretability is the next frontier in machine learning research. In the search for white box models - as opposed to black box models, like random forests or neural networks - rule induction algorithms are a logical and promising option,…

In the field of autonomous robots, reinforcement learning (RL) is an increasingly used method to solve the task of dynamic obstacle avoidance for mobile robots, autonomous ships, and drones. A common practice to train those agents is to use…

We present Frozone, a novel algorithm to deal with the Freezing Robot Problem (FRP) that arises when a robot navigates through dense scenarios and crowds. Our method senses and explicitly predicts the trajectories of pedestrians and…

Quadrotors are one of the popular unmanned aerial vehicles (UAVs) due to their versatility and simple design. However, the tuning of gains for quadrotor flight controllers can be laborious, and accurately stable control of trajectories can…

We propose a physics-informed machine-learned framework for sensor-based flow estimation for drone trajectories in complex urban terrain. The input is a rich set of flow simulations at many wind conditions. The outputs are velocity and…

Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…

Wind energy has significant potential owing to the continuous growth of wind power and advancements in technology. However, the evolution of wind speed is influenced by the complex interaction of multiple factors, making it highly variable.…

The increasing availability of drones and their potential for malicious activities pose significant privacy and security risks, necessitating fast and reliable detection in real-world environments. However, existing drone detection systems…

Fuzzing is a popular vulnerability automated testing method utilized by professionals and broader community alike. However, despite its abilities, fuzzing is a time-consuming, computationally expensive process. This is problematic for the…

This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…

Drone light shows have emerged as a popular form of entertainment in recent years. However, several high-profile incidents involving large-scale drone failures -- where multiple drones simultaneously fall from the sky -- have raised safety…