12 accepted papers
We propose a new approach to visual perception for relative localization of agents within large-scale swarms of Unmanned Aerial Vehicles (UAVs). Inspired by biological perception utilized by schools of sardines, swarms of bees, and other large groups of animals capable of moving in a decentralized y…
In this letter, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while planning paths and calculating information gain in short com
In this letter, we propose a novel approach to generate a synthetic aerial dataset for application in UAV monitoring. We propose to accentuate shape-based object representation by applying texture randomization. A diverse dataset with photorealism in all parameters such as shape, pose, lighting, sca
In this letter we propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors, such as LiDARs, that produce large point clouds with each scan. The planner is based on the detection of a frontier - a boundary between the explored and the unknown part of th
This paper presents a manipulator-equipped unmanned aerial vehicle (UAV) performing contact-based surface inspection. Using stereo camera information, a contact point is determined and an approach path is generated to ensure an autonomous workflow. The proposed inspection method uses an impedance co…
In this letter, we study a cooperative aerial-ground robotic team and its application to the task of automated construction. We propose a solution for planning and coordinating the mission of constructing a wall with a predefined structure for a heterogeneous system consisting of one mobile robot an
In this letter, we present a dynamic median consensus protocol for multi-agent systems using acoustic communication. The motivating target scenario is a multi-agent system consisting of underwater robots acting as intelligent sensors, applied to continuous monitoring of the state of a marine environ
In this paper, we present a method for depth control of one degree of freedom (1DOF) underwater robotic platform aMussel, based on the measurements from the ambient light sensor. Since ambient light values change during the day and depend on the weather conditions, references for the controller are…
This paper demonstrates the experimental validation of canonical peg-in-hole manipulation task using an aerial robot. The robot consists of a multirotor platform equipped with a dual arm multi degree of freedom manipulator. The paper discusses the introduced kinematic constraints which make sure the…
In this paper we present a study of a robotic system that consists of an unmanned aerial vehicle equipped with a pair of manipulator arms (MMUAV), and unmanned ground vehicles (UGVs). The envisioned application scenario includes autonomous packet transportation, where MMUAV is used for picking/placi
In this paper we propose an algorithm for decentralized control of Automated Guided Vehicles (AGVs) operating in automated warehouse environments. The motion planning part of the algorithm provides vehicles with capabilities for autonomous motion planning considering nonholonomic vehicle constraints…