相关论文: Training on the Fly: On-device Self-supervised Lea…
Sub-\SI{50}{\gram} nano-drones are gaining momentum in both academia and industry. Their most compelling applications rely on onboard deep learning models for perception despite severe hardware constraints (\ie sub-\SI{100}{\milli\watt}…
Autonomous nano-drones, powered by vision-based tiny machine learning (TinyML) models, are a novel technology gaining momentum thanks to their broad applicability and pushing scientific advancement on resource-limited embedded systems.…
Sub-10cm diameter nano-drones are gaining momentum thanks to their applicability in scenarios prevented to bigger flying drones, such as in narrow environments and close to humans. However, their tiny form factor also brings their major…
On-device training enables the model to adapt to new data collected from the sensors by fine-tuning a pre-trained model. Users can benefit from customized AI models without having to transfer the data to the cloud, protecting the privacy.…
Autonomous nano-drones (~10 cm in diameter), thanks to their ultra-low power TinyML-based brains, are capable of coping with real-world environments. However, due to their simplified sensors and compute units, they are still far from the…
As Machine Learning (ML) becomes integral to Cyber-Physical Systems (CPS), there is growing interest in shifting training from traditional cloud-based to on-device processing (TinyML), for example, due to privacy and latency concerns.…
Sub-30g nano-sized aerial robots can leverage their agility and form factor to autonomously explore cluttered and narrow environments, like in industrial inspection and search and rescue missions. However, the price for their tiny size is a…
Recent advances in Tiny Machine Learning (TinyML) empower low-footprint embedded devices for real-time on-device Machine Learning. While many acknowledge the potential benefits of TinyML, its practical implementation presents unique…
Relative drone-to-drone localization is a fundamental building block for any swarm operations. We address this task in the context of miniaturized nano-drones, i.e., 10cm in diameter, which show an ever-growing interest due to novel use…
Nano-quadcopters are versatile platforms attracting the interest of both academia and industry. Their tiny form factor, i.e., $\,$10 cm diameter, makes them particularly useful in narrow scenarios and harmless in human proximity. However,…
Perceiving and mapping the surroundings are essential for enabling autonomous navigation in any robotic platform. The algorithm class that enables accurate mapping while correcting the odometry errors present in most robotics systems is…
Tiny machine learning (TinyML), executing AI workloads on resource and power strictly restricted systems, is an important and challenging topic. This brief firstly presents an extremely tiny backbone to construct high efficiency CNN models…
On-device training is essential for user personalisation and privacy. With the pervasiveness of IoT devices and microcontroller units (MCUs), this task becomes more challenging due to the constrained memory and compute resources, and the…
The evolution of AI and digital signal processing technologies, combined with affordable energy-efficient processors, has propelled the development of both hardware and software for drone applications. Nano-drones, which fit into the palm…
Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on…
Pocket-sized autonomous nano-drones can revolutionize many robotic use cases, such as visual inspection in narrow, constrained spaces, and ensure safer human-robot interaction due to their tiny form factor and weight -- i.e., tens of grams.…
On-device tuning of deep neural networks enables long-term adaptation at the edge while preserving data privacy. However, the high computational and memory demands of backpropagation pose significant challenges for ultra-low-power,…
An important function of autonomous microrobots is the ability to perform robust movement over terrain. This paper explores an edge ML approach to microrobot locomotion, allowing for on-device, lower latency control under compute, memory,…
This paper presents a complete, end-to-end on-device vision machine learning pipeline, comprising data acquisition, two-layer CNN training with Adam optimization, and real-time inference, executing entirely on a microcontroller-class device…
Training deep neural networks using backpropagation is very memory and computationally intensive. This makes it difficult to run on-device learning or fine-tune neural networks on tiny, embedded devices such as low-power micro-controller…