相关论文: YOPOv2-Tracker: An End-to-End Agile Tracking and N…
Maintaining the visibility of the target is one of the major objectives of aerial tracking missions. This paper proposes a target-visible trajectory planning pipeline using quadratic programming. Our approach can handle various tracking…
Transfer learning has the potential to reduce the burden of data collection and to decrease the unavoidable risks of the training phase. In this letter, we introduce a multirobot, multitask transfer learning framework that allows a system…
Multi-object tracking (MOT) is a challenging practical problem for vision based applications. Most recent approaches for MOT use precomputed detections from models such as Faster RCNN, performing fine-tuning of bounding boxes and…
Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…
Tokenization in video models, typically through patchification, generates an excessive and redundant number of tokens. This severely limits video efficiency and scalability. While recent trajectory-based tokenizers offer a promising…
As enterprises move to a cloud-first approach, their network becomes crucial to their daily operations and has to be continuously monitored. Although passive monitoring can be convenient from a deployment viewpoint, inferring the state of…
Agile mapless navigation in cluttered 3D environments poses significant challenges for autonomous drones. Conventional mapping-planning-control pipelines incur high computational cost and propagate estimation errors. We present AERO-MPPI, a…
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…
Recent advancements in software and hardware technologies have enabled the use of AI/ML models in everyday applications has significantly improved the quality of service rendered. However, for a given application, finding the right AI/ML…
We present a hybrid control framework for solving a motion planning problem among a collection of heterogenous agents. The proposed approach utilizes a finite set of low-level motion primitives, each based on a piecewise affine feedback…
Recently, Model Predictive Path Integral (MPPI) control algorithm has been extensively applied to autonomous navigation tasks, where the cost map is mostly assumed to be known and the 2D navigation tasks are only performed. In this paper,…
In recent times, an increasing number of researchers have been devoted to utilizing deep neural networks for end-to-end flight navigation. This approach has gained traction due to its ability to bridge the gap between perception and…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
End-to-end autonomous driving has achieved remarkable progress by integrating perception, prediction, and planning into a fully differentiable framework. Yet, to fully realize its potential, an effective online trajectory evaluation is…
Decoder-only methods, such as GPT, have demonstrated superior performance in many areas compared to traditional encoder-decoder structure transformer methods. Over the years, end-to-end methods based on the traditional transformer…
Quadrotors can achieve aggressive flight by tracking complex maneuvers and rapidly changing directions. Planning for aggressive flight with trajectory optimization could be incredibly fast, even in higher dimensions, and can account for…
Lane detection is typically tackled with a two-step pipeline in which a segmentation mask of the lane markings is predicted first, and a lane line model (like a parabola or spline) is fitted to the post-processed mask next. The problem with…
Measurement and analysis of high energetic particles for scientific, medical or industrial applications is a complex procedure, requiring the design of sophisticated detector and data processing systems. The development of adaptive and…
The speed-precision trade-off is a critical problem for visual object tracking which usually requires low latency and deployment on constrained resources. Existing solutions for efficient tracking mainly focus on adopting light-weight…
This paper presents an aggressive trajectory tracking method for a small lightweight nano-quadrotor using nonlinear model predictive control (NMPC) based on acados. Controlling a nano quadrotor for accurate trajectory tracking at high speed…