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Magnetic-anomaly navigation, leveraging small-scale variations in the Earth's magnetic field, is a promising alternative when GPS is unavailable or compromised. Airborne systems face a key challenge in extracting geomagnetic field data: the…
For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…
Recent research has enabled fixed-wing unmanned aerial vehicles (UAVs) to maneuver in constrained spaces through the use of direct nonlinear model predictive control (NMPC). However, this approach has been limited to a priori known maps and…
Moving around in the world is naturally a multisensory experience, but today's embodied agents are deaf---restricted to solely their visual perception of the environment. We introduce audio-visual navigation for complex, acoustically and…
Audio-visual speech recognition (AVSR) has gained remarkable success for ameliorating the noise-robustness of speech recognition. Mainstream methods focus on fusing audio and visual inputs to obtain modality-invariant representations.…
Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
Detecting sound source objects within visual observation is important for autonomous robots to comprehend surrounding environments. Since sounding objects have a large variety with different appearances in our living environments, labeling…
This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…
Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…
Most of the prior studies in the spatial \ac{DoA} domain focus on a single modality. However, humans use auditory and visual senses to detect the presence of sound sources. With this motivation, we propose to use neural networks with audio…
This paper presents a robust non-linear state estimator for autonomous surface vehicles, where the movement is restricted to the horizontal plane. It is assumed that only the vehicle position and orientation can be measured, being the…
Unmanned Aerial Vehicles (UAVs) offer a promising solution for enhancing wireless connectivity and Quality of Service (QoS) in urban environments, acting as aerial Wi-Fi access points or cellular base stations. Their flexibility and rapid…
In this paper, we study a joint detection, mapping and navigation problem for a single unmanned aerial vehicle (UAV) equipped with a low complexity radar and flying in an unknown environment. The goal is to optimize its trajectory with the…
The growing field of aerial manipulation often relies on fully actuated or omnidirectional micro aerial vehicles (OMAVs) which can apply arbitrary forces and torques while in contact with the environment. Control methods are usually based…
This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…
This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…
With the rapid application of unmanned aerial vehicles (UAVs) in urban areas, the identification and tracking of hovering UAVs have become critical challenges, significantly impacting the safety of aircraft take-off and landing operations.…
Autonomous navigation is the foundation of agricultural robots. This paper focuses on developing an advanced autonomous navigation system for a rover operating within row-based crops. A position-agnostic system is proposed to address the…