相关论文: Geometric Look-Angle Shaping Strategy for Enclosed…

The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…

This work presents a real-time autonomous track navigation framework for nonholonomic differential-drive mobile robots by jointly integrating multi-task visual perception and a provably stable tracking controller. The perception pipeline…

The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…

This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…

Dominant paradigms for 4D LiDAR panoptic segmentation are usually required to train deep neural networks with large superimposed point clouds or design dedicated modules for instance association. However, these approaches perform redundant…

The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…

We use Reinforcement Meta Learning to optimize an adaptive guidance system suitable for the approach phase of a gliding hypersonic vehicle. Adaptability is achieved by optimizing over a range of off-nominal flight conditions including…

Unmanned aerial vehicles (UAVs) with on-board cameras are widely used for remote surveillance and video capturing applications. In remote virtual reality (VR) applications, multiple UAVs can be used to capture different partially…

A robust nonlinear stochastic observer for simultaneous localization and mapping (SLAM) is proposed using the available uncertain measurements of angular velocity, translational velocity, and features. The proposed observer is posed on the…

This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D…

Accurate extrinsic calibration between multiple LiDAR sensors and a GNSS-aided inertial navigation system (GINS) is essential for achieving reliable sensor fusion in intelligent mining environments. Such calibration enables vehicle-road…

Grasping unknown objects in unstructured environments is a critical challenge for service robots, which must operate in dynamic, real-world settings such as homes, hospitals, and warehouses. Success in these environments requires both…

In this paper, we investigate the problem of controlling multiple unmanned aerial vehicles (UAVs) to enclose a moving target in a distributed fashion based on a relative distance and self-displacement measurements. A relative localization…

We propose a closed-loop, multi-instance control algorithm for visually guided reaching based on novel learning principles. A control Lyapunov function methodology is used to design a reaching action for a complex multi-instance task in the…

Designing stabilizing controllers is a fundamental challenge in autonomous systems, particularly for high-dimensional, nonlinear systems that can hardly be accurately modeled with differential equations. The Lyapunov theory offers a…

This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…

The increasing number of space missions may overwhelm ground support infrastructure, prompting the need for autonomous deep-space guidance, navigation, and control (GN\&C) systems. These systems offer sustainable and cost-effective…

Anomaly synthesis strategies can effectively enhance unsupervised anomaly detection. However, existing strategies have limitations in the coverage and controllability of anomaly synthesis, particularly for weak defects that are very similar…

Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…

This paper suggests a 2D exploration strategy for a planar space cluttered with obstacles. Rather than using point robots capable of adjusting their position and altitude instantly, this research is tailored to classical agents with…