相关论文: Perception-aware Planning for Quadrotor Flight in …

Considering visual localization accuracy at the planning time gives preference to robot motion that can be better localized and thus has the potential of improving vision-based navigation, especially in visually degraded environments. To…

Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…

This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or objects, and the robot must reach desired locations while…

We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…

Trajectory replanning for quadrotors is essential to enable fully autonomous flight in unknown environments. Hierarchical motion planning frameworks, which combine path planning with path parameterization, are popular due to their time…

Ego-vision-based navigation in cluttered environments is crucial for mobile systems, particularly agile quadrotors. While learning-based methods have shown promise recently, head-to-head comparisons with cutting-edge optimization-based…

This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…

Visual Place Recognition (VPR) is a fundamental yet challenging task for small Unmanned Aerial Vehicle (UAV). The core reasons are the extreme viewpoint changes, and limited computational power onboard a UAV which restricts the…

In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface robots, which enforces safety constraints for precise…

Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…

Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…

Adaptive autonomous navigation with no prior knowledge of extraneous disturbance is of great significance for quadrotors in a complex and unknown environment. The mainstream that considers external disturbance is to implement…

Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions. To navigate this challenge, we present a safety-aware…

Achieving reliable and safe autonomous driving in off-road environments requires accurate and efficient terrain traversability analysis. However, this task faces several challenges, including the scarcity of large-scale datasets tailored…

Traditional learning approaches proposed for controlling quadrotors or helicopters have focused on improving performance for specific trajectories by iteratively improving upon a nominal controller, for example learning from demonstrations,…

This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…

Perception-based navigation systems are useful for unmanned ground vehicle (UGV) navigation in complex terrains, where traditional depth-based navigation schemes are insufficient. However, these data-driven methods are highly dependent on…

In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-and-repeat framework, which is widely adopted in…