相关论文: A General Purpose Method for Robotic Interception …
This paper addresses the multi-robot pursuit problem for an unknown target, encompassing both target state estimation and pursuit control. First, in state estimation, we focus on using only bearing information, as it is readily available…
A novel approach for achieving fast evasion in self-localized swarms of Unmanned Aerial Vehicles (UAVs) threatened by an intruding moving object is presented in this paper. Motivated by natural self-organizing systems, the presented…
A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…
The main barrier to achieving fully autonomous flights lies in autonomous aircraft navigation. Managing non-cooperative traffic presents the most important challenge in this problem. The most efficient strategy for handling non-cooperative…
This paper presents a study on autonomous robot navigation, focusing on three key behaviors: Odometry, Target Tracking, and Obstacle Avoidance. Each behavior is described in detail, along with experimental setups for simulated and…
Heterogeneous air-ground robot teams combine complementary sensing modalities, mobility characteristics, and spatial viewpoints that can significantly enhance perception in complex outdoor environments. However, progress in multi-robot…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
{Recognizing human interactions is essential for social robots as it enables them to navigate safely and naturally in shared environments. Conventional robotic systems however often focus on obstacle avoidance, neglecting social cues…
In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…
Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…
A robotic solution for the unmanned ground vehicles (UGVs) to execute the highly complex task of object manipulation in an autonomous mode is presented. This paper primarily focuses on developing an autonomous robotic system capable of…
The Earth, a temporal complex system, is witnessing a shift in research on its coordinate system, moving away from conventional static positioning toward embracing dynamic modeling. Early positioning concentrates on static natural…
Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Current methods rely on pre-built maps and assume static…
Aerial cinematography is revolutionizing industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely piloting a drone while filming a moving target in the presence of obstacles is…
Over the past decades, quadcopters have been investigated, due to their mobility and flexibility to operate in a wide range of environments. They have been used in various areas, including surveillance and monitoring. During a mission,…
This paper introduces a novel approach to video object detection detection and tracking on Unmanned Aerial Vehicles (UAVs). By incorporating metadata, the proposed approach creates a memory map of object locations in actual world…
Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profiles. In this paper, we adapt the generalized momentum…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
In this paper, we propose a general framework for universal zero-shot goal-oriented navigation. Existing zero-shot methods build inference framework upon large language models (LLM) for specific tasks, which differs a lot in overall…