8 accepted papers
Model-based reinforcement learning (RL) algorithms do not typically consider environments with multiple dynamic modes, where it is beneficial to avoid inoperable or undesirable modes. We present a model-based RL algorithm that constrains training to a single dynamic mode with high probability. This…
Graceful degradation is a potential advantage of Multi-Robot Systems over Single-Robot Systems. In aerial robotics applications, such as infrastructure inspection, this trait is desirable as it would improve mission reliability despite the use of failure-prone low-cost drones. The Reliability-Aware…
This work considers the problem of generating computationally efficient quadrotor motion primitives between a given pose (position, velocity, and acceleration) and a goal plane in the presence of obstacles. A new motion primitive tool based on the logistic curve is proposed and a closed-form analyti…
A new strategy is proposed for scheduling Visual Odometry (VO) measurements for wheeled ground vehicles. Rather than having a fixed interval or distance between image acquisitions, we propose to trigger VO based on covariances from an Adaptive Extended Kalman Filter. The adopted model uses process n…
This paper presents a two-stage method to perform trajectory optimisation in multimodal dynamical systems with unknown nonlinear stochastic transition dynamics. The method finds trajectories that remain in a preferred dynamics mode where possible and in regions of the transition dynamics model that…
A method for real-time robot navigation with obstacle avoidance is presented. A two-stage approach is proposed: the use of online Simulated Annealing (SA) to optimize a convex operating region in configuration space is paired with Model Predictive Control (MPC) to determine a locally optimal motion…
This paper presents a method of occluding depth edge-detection targeted towards RGB-D video streams and explores the use of these and other edge features in RGB-D SLAM. The proposed depth edge-detection approach uses prior information obtained from the previous RGB-D video frame to determine which a
This paper characterises the power consumption of electric rotorcraft and derives an endurance estimation model for such aircraft powered by LiPo batteries. Theoretical analysis is backed by experimental flight tests using a popular commercial quadrotor. Experiments on Commercial Off-The-Shelf Lithi…