相关论文: A Cooperative Bearing-Rate Approach for Observabil…

We address load-parameter estimation in cooperative aerial transport with time-varying mass and inertia, as in fluid-carrying payloads. Using an intrinsic manifold model of the multi-quadrotor-load dynamics, we combine a geometric tracking…

Multi-object Tracking (MOT) generally can be split into two sub-tasks, i.e., detection and association. Many previous methods follow the tracking by detection paradigm, which first obtain detections at each frame and then associate them…

This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robots to track is constructed in terms of a desired formation…

This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…

Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a…

Consider a team with two types of agents: targets and observers. Observers are aerial UAVs that observe targets moving on land with their movements restricted to the paths that form a planar graph on the surface. Observers have limited…

This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…

Tracking objects in three-dimensional space is critical for autonomous driving. To ensure safety while driving, the tracker must be able to reliably track objects across frames and accurately estimate their states such as velocity and…

This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…

This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…

Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…

This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…

In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of…

Building and maintaining a space object catalog is necessary for space situational awareness. To realize this, one great challenge is uncooperative spacecraft maneuver detection because unknown maneuver events can lead to deviated orbital…

Multi-object tracking (MOT) in computer vision remains a significant challenge, requiring precise localization and continuous tracking of multiple objects in video sequences. The emergence of data sets that emphasize robust…

Bearing-only tracking, localisation, and circumnavigation is a problem in which a single or a group of agents attempts to track a target while circumnavigating it at a fixed distance using only bearing measurements. While previous studies…

Event-based moving object detection is a challenging task, where static background and moving object are mixed together. Typically, existing methods mainly align the background events to the same spatial coordinate system via motion…

Human Action Recognition (HAR) is an interesting research area in human-computer interaction used to monitor the activities of elderly and disabled individuals affected by physical and mental health. In the recent era, skeleton-based HAR…

This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting of a fully observable state-space and a partially…

Purpose: This paper aims to enhance bearing fault diagnosis in industrial machinery by introducing a novel method that combines Graph Attention Network (GAT) and Long Short-Term Memory (LSTM) networks. This approach captures both spatial…