相关论文: GA3T: A Ground-Aerial Terrain Traversability Datas…

While cooperative perception can overcome the limitations of single-vehicle systems, the practical implementation of vehicle-to-vehicle and vehicle-to-infrastructure systems is often impeded by significant economic barriers. Aerial-ground…

Terrain-aware perception holds the potential to improve the robustness and accuracy of autonomous robot navigation in the wilds, thereby facilitating effective off-road traversals. However, the lack of multi-modal perception across various…

Accurate perception of UAVs in complex low-altitude environments is critical for airspace security and related intelligent systems. Developing reliable solutions requires large-scale, accurately annotated, and multimodal data. However,…

By sharing information across multiple agents, collaborative perception helps autonomous vehicles mitigate occlusions and improve overall perception accuracy. While most previous work focus on vehicle-to-vehicle and…

In the past decade, although single-robot perception has made significant advancements, the exploration of multi-robot collaborative perception remains largely unexplored. This involves fusing compressed, intermittent, limited,…

We present TartanGround, a large-scale, multi-modal dataset to advance the perception and autonomy of ground robots operating in diverse environments. This dataset, collected in various photorealistic simulation environments includes…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

We present a communication-free method for safe multi-robot coordination in complex environments such as forests with dense canopy cover, where GNSS is unavailable. Our approach relies on an onboard anisotropic 3D LiDAR sensor used for SLAM…

For full-size humanoid robots, even with recent advances in reinforcement learning-based control, achieving reliable locomotion on complex terrains, such as long staircases, remains challenging. In such settings, limited perception,…

This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…

The potential for deploying autonomous systems can be significantly increased by improving the perception and interpretation of the environment. However, the development of deep learning-based techniques for autonomous systems in…

With the growing demand for efficient logistics and warehouse management, unmanned aerial vehicles (UAVs) are emerging as a valuable complement to automated guided vehicles (AGVs). UAVs enhance efficiency by navigating dense environments…

This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV…

As spatial intelligence continues to evolve, heterogeneous multi-agent systems-particularly the collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), have demonstrated strong potential in complex…

Modern perception systems for autonomous flight are sensitive to occlusion and have limited long-range capability, which is a key bottleneck in improving low-altitude economic task performance. Recent research has shown that the UAV-to-UAV…

Terrain understanding is fundamental for mobile robots operating in unstructured outdoor environments. Existing vision-based traversability estimation methods rely on robot-specific annotations or semantic class mappings, limiting…

The combination of aerial survey capabilities of Unmanned Aerial Vehicles with targeted intervention abilities of agricultural Unmanned Ground Vehicles can significantly improve the effectiveness of robotic systems applied to precision…

While multi-vehicular collaborative driving demonstrates clear advantages over single-vehicle autonomy, traditional infrastructure-based V2X systems remain constrained by substantial deployment costs and the creation of "uncovered danger…

Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…

The burgeoning demand for collaborative robotic systems to execute complex tasks collectively has intensified the research community's focus on advancing simultaneous localization and mapping (SLAM) in a cooperative context. Despite this…