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08/22/2023
Dynamic Open Vocabulary Enhanced Safe-landing with Intelligence (DOVESEI)
This work targets what we consider to be the foundational step for urban...
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07/17/2023
Congestion and Scalability in Robot Swarms: a Study on Collective Decision Making
One of the most important promises of decentralized systems is scalabili...
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07/13/2023
BittyBuzz: A Swarm Robotics Runtime for Tiny Systems
Swarm robotics is an emerging field of research which is increasingly at...
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07/11/2023
Joint Machine-Transporter Scheduling for Multistage Jobs with Adjustable Computation Time
This paper presents a scalable solution with adjustable computation time...
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06/26/2023
Energy Sufficiency in Unknown Environments via Control Barrier Functions
Maintaining energy sufficiency of a battery-powered robot system is a ...
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06/20/2023
CoNi-MPC: Cooperative Non-inertial Frame Based Model Predictive Control
This paper presents a novel solution for UAV control in cooperative mult...
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01/23/2023
Real-Time Simultaneous Localization and Mapping with LiDAR intensity
We propose a novel real-time LiDAR intensity image-based simultaneous lo...
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01/16/2023
Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems
Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital ...
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09/30/2022
A Complete Set of Connectivity-aware Local Topology Manipulation Operations for Robot Swarms
The topology of a robotic swarm affects the convergence speed of consens...
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07/23/2022
Event-based RGB-D sensing with structured light
Event-based cameras (ECs) are bio-inspired sensors that asynchronously r...
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06/05/2022
ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity
Communication is an important capability for multi-robot exploration bec...
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04/25/2022
Analyze, Debug, Optimize: Real-Time Tracing for Perception and Mapping Systems in ROS 2
Perception and mapping systems are among the most computationally, memor...
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04/21/2022
Message Flow Analysis with Complex Causal Links for Distributed ROS 2 Systems
Distributed robotic systems rely heavily on publish-subscribe frameworks...
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04/14/2022
Hierarchical Control of Smart Particle Swarms
We present a method for the control of robot swarms which allows the sha...
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04/13/2022
Copiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface
Real-world deployment of new technology and capabilities can be daunting...
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03/08/2022
Tune your Place Recognition: Self-Supervised Domain Calibration via Robust SLAM
Visual place recognition techniques based on deep learning, which have i...
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01/04/2022
RASS: Risk-Aware Swarm Storage
In robotics, data acquisition often plays a key part in unknown environm...
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09/29/2021
DORA: Distributed Online Risk-Aware Explorer
Exploration of unknown environments is an important challenge in the fie...
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08/18/2021
Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape
Motivated by the tremendous progress we witnessed in recent years, this ...
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07/28/2021
The Portiloop: a deep learning-based open science tool for closed-loop brain stimulation
Electroencephalography (EEG) is a method of measuring the brain's electr...
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07/23/2021
A Flexible Exoskeleton for Collision Resilience
With inspiration from arthropods' exoskeletons, we designed a simple, ea...
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06/06/2021
Collective transport via sequential caging
We propose a decentralized algorithm to collaboratively transport arbitr...
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03/23/2021
Decentralized Connectivity Maintenance with Time Delays using Control Barrier Functions
Connectivity maintenance is crucial for the real world deployment of mul...
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03/21/2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
This paper presents and discusses algorithms, hardware, and software arc...
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03/07/2021
When Being Soft Makes You Tough: A Collision Resilient Quadcopter Inspired by Arthropod Exoskeletons
Flying robots are usually rather delicate, and require protective enclos...
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01/21/2021
Multi-robot energy autonomy with wind and constrained resources
One aspect of the ever-growing need for long term autonomy of multi-robo...
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12/16/2020
MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception
Determining the relative position and orientation of objects in an envir...
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10/06/2020
Reinforcement Learning with Random Delays
Action and observation delays commonly occur in many Reinforcement Learn...
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05/31/2020
VIR-SLAM: Visual, Inertial, and Ranging SLAM for single and multi-robot systems
Monocular cameras coupled with inertial measurements generally give high...
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05/21/2020
Accurate position tracking with a single UWB anchor
Accurate localization and tracking are a fundamental requirement for rob...
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10/19/2019
CAPRICORN: Communication Aware Place Recognition using Interpretable Constellations of Objects in Robot Networks
Using multiple robots for exploring and mapping environments can provide...
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09/26/2019
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
To achieve collaborative tasks, robots in a team need to have a shared u...
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09/23/2019
Self-Healing Ground-and-Air Connectivity Chains
The coordination of robot swarms - large decentralized teams of robots -...
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09/23/2019
An Adversarial Approach to Private Flocking in Mobile Robot Teams
Privacy is an important facet of defence against adversaries. In this le...
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09/23/2019
Decentralized Connectivity Control in Quadcopters: a Field Study of Communication Performance
Redundancy and parallelism make decentralized multi-robot systems appeal...
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05/12/2019
Failure-Tolerant Connectivity Maintenance for Robot Swarms
Connectivity maintenance plays a key role in achieving a desired global ...
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05/07/2019
Collaborative Localization and Tracking with Minimal Infrastructure
Localization and tracking are two very active areas of research for robo...
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04/08/2019
Collision-aware Task Assignment for Multi-Robot Systems
We propose a novel formulation of the collision-aware task assignment (C...
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10/27/2018
Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models
Perceptual aliasing is one of the main causes of failure for Simultaneou...
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10/01/2018
Decentralized collaborative transport of fabrics using micro-UAVs
Small unmanned aerial vehicles (UAVs) have generally little capacity to ...
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09/19/2018
Stop, Think, and Roll: Online Gain Optimization for Resilient Multi-robot Topologies
Efficient networking of many-robot systems is considered one of the gran...
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06/01/2018
Decentralized Connectivity-Preserving Deployment of Large-Scale Robot Swarms
We present a decentralized and scalable approach for deployment of a rob...
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10/24/2017