相关论文: Quadcopter Position Hold Function using Optical Fl…

This paper introduces a learning-based low-level controller for quadcopters, which adaptively controls quadcopters with significant variations in mass, size, and actuator capabilities. Our approach leverages a combination of imitation…

Multicopter drones are becoming a key platform in several application domains, enabling precise on-the-spot sensing and/or actuation. We focus on the case where the drone must process the sensor data in order to decide, depending on the…

This paper describes the hardware design and flight demonstration of a small quadrotor with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The vehicle is equipped with five cameras, including two pairs of…

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…

In this paper, we propose an accurate visible light indoor localization system for a smartphone using the existing commercial light-emitting diode (LED) luminaries. The proposed technique, called geometrical optics positioning algorithm…

Camera calibration for estimating the intrinsic parameters and lens distortion is a prerequisite for various monocular vision applications including feature tracking and video stabilization. This application paper proposes a model for…

This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…

Quadcopters are versatile aerial robots gaining popularity in numerous critical applications. However, their operational effectiveness is constrained by limited battery life and restricted flight range. To address these challenges,…

The visual cue of optical flow plays a major role in the navigation of flying insects, and is increasingly studied for use by small flying robots as well. A major problem is that successful optical flow control seems to require distance…

Localizing smartphones in indoor environments offers excellent opportunities for e-commerce. In this paper, we propose a localization technique for smartphones in indoor environments. This technique can calculate the coordinates of a…

Large-scale environmental sensing with a finite number of mobile sensors is a challenging task that requires a lot of resources and time. This is especially true when features in the environment are spatiotemporally changing with unknown or…

Artificial intelligence-powered pocket-sized air robots have the potential to revolutionize the Internet-of-Things ecosystem, acting as autonomous, unobtrusive, and ubiquitous smart sensors. With a few cm$^{2}$ form-factor, nano-sized…

We present CompactFlowNet, the first real-time mobile neural network for optical flow prediction, which involves determining the displacement of each pixel in an initial frame relative to the corresponding pixel in a subsequent frame.…

In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…

We present a dataset of 1000 video sequences of human portraits recorded in real and uncontrolled conditions by using a handheld smartphone accompanied by an external high-quality depth camera. The collected dataset contains 200 people…

We propose a bootstrapping framework to enhance human optical flow and pose. We show that, for videos involving humans in scenes, we can improve both the optical flow and the pose estimation quality of humans by considering the two tasks at…

Tactile sensing is crucial for robots aiming to achieve human-level dexterity. Among tactile-dependent skills, tactile-based object tracking serves as the cornerstone for many tasks, including manipulation, in-hand manipulation, and 3D…

Mobile phones are becoming increasingly advanced and the latest ones are equipped with many diverse and powerful sensors. These sensors can be used to study different position and orientation of the phone which can help smartphone…

Interactional aerodynamics of a quadcopter in hover is numerically investigated in this study. The main objective is to understand major flow structures associated with unsteady airloads on multirotor aircraft. The overset mesh approach is…

Aerial insects can effortlessly navigate dense vegetation, whereas similarly sized aerial robots typically depend on offboard sensors and computation to maintain stable flight. This disparity restricts insect-scale robots to operation…