相关论文: Shepherd Grid Strategy: Towards Reliable SWARM Int…

In swarm robotics, confrontation scenarios, including strategic confrontations, require efficient decision-making that integrates discrete commands and continuous actions. Traditional task and motion planning methods separate…

6D grasping in cluttered scenes is a longstanding problem in robotic manipulation. Open-loop manipulation pipelines may fail due to inaccurate state estimation, while most end-to-end grasping methods have not yet scaled to complex scenes…

This paper focuses on target-oriented grasping in occluded scenes, where the target object is specified by a binary mask and the goal is to grasp the target object with as few robotic manipulations as possible. Most existing methods rely on…

Monitoring crop fields to map features like weeds can be efficiently performed with unmanned aerial vehicles (UAVs) that can cover large areas in a short time due to their privileged perspective and motion speed. However, the need for…

This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents. Contrary to prior approaches that rely on explicit…

A tethered marsupial robotics system comprises three components: an Unmanned Ground Vehicle (UGV), an Unmanned Aerial Vehicle (UAV), and a tether connecting both robots. Marsupial systems are highly beneficial in industry as they extend the…

The rapid proliferation of unmanned aerial vehicles (UAVs) and their applications in diverse domains, such as surveillance, disaster management, agriculture, and defense, have revolutionized modern technology. While the potential benefits…

Swarm guidance addresses a challenging problem considering the navigation and control of a group of passive agents. To solve this problem, shepherding offers a bio-inspired technique of navigating such group of agents by using external…

Autonomous aerial tracking with drones offers vast potential for surveillance, cinematography, and industrial inspection applications. While single-drone tracking systems have been extensively studied, swarm-based target tracking remains…

This paper investigates decentralized shepherding in cluttered environments, where a limited number of herders must guide a larger group of non-cohesive, diffusive targets toward a goal region in the presence of static obstacles. A…

Ethological research increasingly benefits from the growing affordability and accessibility of drones, which enable the capture of high-resolution footage of animal movement at fine spatial and temporal scales. However, analyzing such…

With advancements in technology, commercial aircraft formation flying is becoming increasingly feasible as an efficient and environmentally friendly flight method. However, gaps remain in practical implementation, particularly in collision…

This paper presents a leaderless cooperative guidance strategy for simultaneous time-constrained interception of a stationary target when the interceptors exchange information over switched dynamic graphs. We specifically focus on scenarios…

This paper studies real-time motion planning and control for ball bumping motion with quadruped robots. To enable the quadruped to bump the flying ball with different initializations, we develop a nonlinear trajectory optimization-based…

Aircraft failures alter dynamics, diminishing manoeuvrability. Such manoeuvring flight envelope variations, governed by the aircraft's complex nonlinear dynamics, are unpredictable by pilots and existing flight management systems. To…

Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…

This paper presents a robust computationally efficient real-time collision avoidance algorithm for Unmanned Aerial Vehicle (UAV), namely Memory-based Wall Following-Artificial Potential Field (MWF-APF) method. The new algorithm switches…

Existing studies on formation control for unmanned aerial vehicles (UAV) have not considered encircling targets where an optimum coverage of the target is required at all times. Such coverage plays a critical role in many real-world…

Detecting spoofing attacks on the positions of unmanned aerial vehicles (UAVs) within a swarm is challenging. Traditional methods relying solely on individually reported positions and pairwise distance measurements are ineffective in…

This work develops a unified nonlinear estimation-guidance-control framework for cooperative simultaneous interception of a stationary target under a heterogeneous sensing topology, where sensing capabilities are non-uniform across…