相关论文: TinySense: A Lighter Weight and More Power-efficie…

A fundamental challenge in robot perception is the coupling of the sensor pose and robot pose. This has led to research in active vision where robot pose is changed to reorient the sensor to areas of interest for perception. Further,…

Aerial vehicles are no longer limited to flying in open space: recent work has focused on aerial manipulation and up-close inspection. Such applications place stringent requirements on state estimation: the robot must combine state…

A Flying Bird Object Detection algorithm Based on Motion Information (FBOD-BMI) is proposed to solve the problem that the features of the object are not obvious in a single frame, and the size of the object is small (low Signal-to-Noise…

Medium and large insects in normal hovering have horizontal, planar up- and downstrokes1-4. The lift of the two half-strokes, generated by the leading-edge vortex, provides the weight-supporting vertical force. But for small insects (wing…

Arrays of bioinspired artificial hair-cell airflow velocity sensors can enable flight-by-feel of small, unmanned aircraft. Natural fliers - bats, insects, and birds - have hundred or thousands of velocity sensors distributed across their…

This paper presents the design and development of an intelligent subsystem that includes a novel low-power radar sensor integrated into an autonomous racing perception pipeline to robustly estimate the position and velocity of dynamic…

The backswimmer fly is an aquatic insect, capable of regulating its buoyancy underwater. Its abdomen is covered with hemoglobin cells, used to bind and release oxygen, reversibly. Upon entering water, the fly entraps an air bubble in a…

While bio-inspired and biomimetic systems draw inspiration from living materials, biohybrid systems incorporate them with synthetic devices, allowing the exploitation of both organic and artificial advantages inside a single entity. In the…

Little innovation has been made to low-level attitude flight control used by uncrewed aerial vehicles (UAVs), which still predominantly uses the classical PID controller. In this work we introduce Neuroflight, the first open source…

Aerial insects exhibit highly agile maneuvers such as sharp braking, saccades, and body flips under disturbance. In contrast, insect-scale aerial robots are limited to tracking non-aggressive trajectories with small body acceleration. This…

Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…

The real-world application of small drones is mostly hampered by energy limitations. Neuromorphic computing promises extremely energy-efficient AI for autonomous flight but is still challenging to train and deploy on real robots. To reap…

Nano-UAV teams offer great agility yet face severe navigation challenges due to constrained onboard sensing, communication, and computation. Existing approaches rely on high-resolution vision or compute-intensive planners, rendering them…

Drone racing is becoming a popular e-sport all over the world, and beating the best human drone race pilots has quickly become a new major challenge for artificial intelligence and robotics. In this paper, we propose a strategy for…

The ability of resource-constrained biological systems such as fruitflies to perform complex and high-speed maneuvers in cluttered environments has been one of the prime sources of inspiration for developing vision-based autonomous systems.…

The miniaturisation of sensors and processors, the advancements in connected edge intelligence, and the exponential interest in Artificial Intelligence are boosting the affirmation of autonomous nano-size drones in the Internet of Robotic…

State-of-the-art visual place recognition performance is currently being achieved utilizing deep learning based approaches. Despite the recent efforts in designing lightweight convolutional neural network based models, these can still be…

Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…

Approximately half of the existing winged-insect species are of very small size (wing length about 0.3-4 mm); they are referred to as miniature insects. Yet until recently, much of what we know about the mechanics of insect flight was…

We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…