相关论文: M-SET: Multi-Drone Swarm Intelligence Experimentat…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…
Autonomous aerial tracking with drones offers vast potential for surveillance, cinematography, and industrial inspection applications. While single-drone tracking systems have been extensively studied, swarm-based target tracking remains…
We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…
Robustness in Simultaneous Localization and Mapping (SLAM) remains one of the key challenges for the real-world deployment of autonomous systems. SLAM research has seen significant progress in the last two and a half decades, yet many…
In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…
This paper proposes a new algorithm for collision-free coverage control of multiple non-cooperating swarms in the presence of bounded disturbances. A new methodology is introduced that accounts for uncertainties in disturbance measurements.…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
High-precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
Recent advances have improved autonomous navigation and mapping under payload constraints, but current multi-robot inspection algorithms are unsuitable for nano-drones due to their need for heavy sensors and high computational resources. To…
We consider a multi-object detection problem over a sensor network (SNET) with limited range sensors. This problem complements the widely considered decentralized detection problem where all sensors observe the same object. While the…
Wireless distributed sensor network consists of randomly deployed sensors having low energy assets. These networks can be used for monitoring a variety of environments. Major problems of these networks are energy constraints and their…
Autonomous driving has now made great strides thanks to artificial intelligence, and numerous advanced methods have been proposed for vehicle end target detection, including single sensor or multi sensor detection methods. However, the…
A significant portion of roads, particularly in densely populated developing countries, lacks explicitly defined right-of-way rules. These understructured roads pose substantial challenges for autonomous vehicle motion planning, where…
High-quality datasets can speed up breakthroughs and reveal potential developing directions in SLAM research. To support the research on corner cases of visual SLAM systems, this paper presents Ground-Challenge: a challenging dataset…
Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are…
A simple multi-agent system can be effectively utilized in disaster response applications, such as firefighting. Such a swarm is required to operate in complex environments with limited local sensing and no reliable inter-agent…
The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…
The use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and…