相关论文: Relative Navigation and Dynamic Target Tracking fo…

Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We…

Linear Parameter Varying Dynamical Systems (LPV-DS) encode trajectories into an autonomous first-order DS that enables reactive responses to perturbations, while ensuring globally asymptotic stability at the target. However, the current…

Autonomous navigation in marine environments can be extremely challenging, especially in the presence of spatially varying flow disturbances and dynamic and static obstacles. In this work, we demonstrate that incorporating local flow field…

Unmanned Surface Vehicles (USVs) are increasingly applied to water operations such as environmental monitoring and river-map modeling. It faces a significant challenge in achieving precise autonomous docking at ports or stations, still…

Humans can effortlessly anticipate how objects might move or change through interaction--imagining a cup being lifted, a knife slicing, or a lid being closed. We aim to endow computational systems with a similar ability to predict plausible…

Pose estimation, tracking, and action recognition of articulated objects from depth images are important and challenging problems, which are normally considered separately. In this paper, a unified paradigm based on Lie group theory is…

Autonomous aerial target tracking in unstructured and GPS-denied environments remains a fundamental challenge in robotics. Many existing methods rely on motion capture systems, pre-mapped scenes, or feature-based localization to ensure…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

This paper presents a novel approach to the design of globally asymptotically stable (GAS) position filters for Autonomous Underwater Vehicles (AUVs) based directly on the nonlinear sensor readings of an Ultra-short Baseline (USBL) and a…

In this letter, a dual-bistatic unmanned aerial vehicles (UAVs) tracking system utilizing downlink Long-Term Evolution (LTE) signals is proposed and demonstrated. Particularly, two LTE base stations (BSs) are exploited as illumination…

Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…

We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose.…

Estimating accurate camera poses, 3D scene geometry, and object motion from in-the-wild videos is a long-standing challenge for classical structure from motion pipelines due to the presence of dynamic objects. Recent learning-based methods…

Matrix Lie groups are an important class of manifolds commonly used in control and robotics, and optimizing control policies on these manifolds is a fundamental problem. In this work, we propose a novel computationally efficient approach…

We tackle the problem of tracking the human lower body as an initial step toward an automatic motion assessment system for clinical mobility evaluation, using a multimodal system that combines Inertial Measurement Unit (IMU) data, RGB…

Drawing inspiration from biology, we describe the way in which visual sensing with a monocular camera can provide a reliable signal for navigation of mobile robots. The work takes inspiration from a classic paper by Lee and Reddish (Nature,…

Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic information about the objects of interest from raw sensory…

We address the problem of estimating the relative 6D pose, i.e., position and orientation, of a target spacecraft, from a monocular image, a key capability for future autonomous Rendezvous and Proximity Operations. Due to the difficulty of…

Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…

Relative pose estimation between fixed-wing unmanned aerial vehicles (UAVs) is treated using a stable and robust estimation scheme. The motivating application of this scheme is that of "handoff" of an object being tracked from one…