相关论文: Hardware-in-the-loop Simulation Testbed for Geomag…
We describe an assembly of numerical tools to model the output data of the Planck satellite. These start with the generation of a CMB sky in a chosen cosmology, add in various foreground sources, convolve the sky signal with arbitrary, even…
The ability to autonomously navigate in unknown environments is important for mobile robots. The map is the core component to achieve this. Most map representations rely on drift-free state estimation and provide a global metric map to…
Cellular network-connected unmanned aerial vehicles (UAVs) experience different radio propagation conditions than radio nodes on the ground. Therefore, it has become critical to investigate the performance of aerial radios, both…
Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…
Critical evaluation and understanding of ship responses in the ocean is important for not only the design and engineering of future platforms but also the operation and safety of those that are currently deployed. Simulations or experiments…
The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
Navigation has been a popular area of research in both academia and industry. Combined with maps, and different localization technologies, navigation systems have become robust and more usable. By combining navigation with augmented…
The ability to simulate the world in a spatially consistent manner is a crucial requirement for effective world models. Such a model enables high-quality visual generation, and also ensures the reliability of world models for downstream…
Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…
Human-in-the-loop telerobotic systems (HiLTS) are robotic tools designed to extend and in some circumstances improve the dexterous capabilities of the human operator in virtual and remote environments. Dexterous manipulation, however,…
The manuscript discusses the increasing use of location-aware radio communication systems to support operational processes for the demanding aircraft cabin environment. In this context, the challenges for evaluation and integration of…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
Maps are essential for diverse applications, such as vehicle navigation and autonomous robotics. Both require spatial models for effective route planning and localization. This paper addresses the challenge of road graph construction for…
Recent applications of deep learning to navigation have generated end-to-end navigation solutions whereby visual sensor input is mapped to control signals or to motion primitives. The resulting visual navigation strategies work very well at…
Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…
In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections, assembly, and maintenance of…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…
Service robotics is recently enhancing precision agriculture enabling many automated processes based on efficient autonomous navigation solutions. However, data generation and infield validation campaigns hinder the progress of large-scale…