13 accepted papers
This paper addresses the urgent need for rapid synthesis of georeferenced orthoimages in post-disaster scenarios, where pre-disaster satellite maps cannot be directly reused due to significant urban changes. Drone swarms offer advantages of large scale, wide aerial view and rapid coverage, of disast…
Bearing-only Target Motion Analysis (TMA) is a promising technique for passive tracking in various applications as a bearing angle is easy to measure. Despite its advantages, bearing-only TMA is challenging due to the nonlinearity of the bearing measurement model and the lack of range information, w
A cooperative circumnavigation framework is proposed for multi-quadrotor systems to enclose and track a moving target without reliance on external localization systems. The distinct relationships between quadrotor-quadrotor and quadrotor-target interactions are evaluated using a heterogeneous percep
Fire poses significant threats to life and property, necessitating efficient inspection and accurate identification. Although aerial computer vision algorithms hold great promise, the deployment and computational limitations of onboard platforms prevent existing algorithms from meeting high standard
Typical robot controllers assume firm ground, limiting their effectiveness in controlling robots on dynamic platforms such as trucks or ships. To address this limitation, we propose a reinforcement learning framework for robot locomotion on dynamic rigid platforms and a simulation in which 6-DoF dyn
Unmanned Aerial Vehicles (UAVs) are increasingly utilized across commercial, military, and public safety domains, where target tracking is crucial for imagery content analysis and various applications. This letter explores the challenges in UAV target tracking, particularly addressing deficiencies i
Integrating rule-based policies into reinforcement learning promises to improve data efficiency and generalization in cooperative pursuit problems. However, most implementations do not properly distinguish the influence of neighboring robots in observation embedding or inter-robot interaction rules,
The long-term consistent visual tracking of large-scale moving swarms of animals or autonomous moving robots (AMR) is extremely challenging when the three factors are involved: 1) similar appearance of animals or AMR, 2) frequent and unpredictable occlusions, and 3) non-linear maneuvers. When facing
Swarm drones flying is a very attractive field of robotics research, motivated by natural bird flocking or other animal collective behaviors. In this paper, we propose and develop an open-source11https://github.com/micros-uav/CoFlyers universal platform CoFlyers for end-to-end whole-chain developmen…
Recent studies on the network of multi-vehicle systems have shown that the system performance can be improved comprehensively by actively using historical information without changing the network connectivity. Motivated by this observation, we aim to improve the performance of affine formation maneu
A swarm of fixed-wing unmanned aerial vehicles (UAVs) is expected to efficiently accomplish various tasks in complex scenarios. This paper proposes an attention-based population-invariant multi-agent deep reinforcement learning (MADRL) approach to deal with the decentralized collision-free flocking…
It is of great challenge, though promising, to coordinate collective robots for hunting an evader in a decentralized manner purely in light of local observations. In this paper, this challenge is addressed by a novel hybrid cooperative pursuit algorithm that combines reinforcement learning with the…
How to work effectively under occlusion-rich environments remains a challenge for airborne vision-based ground target tracking, due to the natural limitation of monocular vision. Given this, a novel cross-drone binocular coordination approach, inspired by the efficient coordination of human eyes, is