10 accepted papers
Coordinate initialization is the first step in accomplishing collaborative tasks within robot swarms, determining the quality of tasks. However, fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this end, our letter proposes a complete system for initial rela
Active reconstruction technique enables robots to autonomously collect scene data for full coverage, relieving users from tedious and time-consuming data capturing process. However, designed based on unsuitable scene representations, existing methods show unrealistic reconstruction results or the in…
Relative state estimation is crucial for vision-based swarms to estimate and compensate for the unavoidable drift of visual odometry. For autonomous drones equipped with the most compact sensor setting — a stereo camera that provides a limited field of view (FoV), the demand for mutual observation f…
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it significantly influences estimation accuracy. In this paper, we introduc…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multi-robot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair of robots. However, recovering relative poses for robotic sw
Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact hardware design using active infrared (IR) LEDs, an IR fish-eye c…
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations. However, the correspondence is difficult to acquire, especially for unified
This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidth and range in the real world, we propose a lightweight environment presentation method and an efficient cooperative exp…
In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images, which classifies obstacles as dynamic and static. For representi…
Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless local planner which directly conducts such abstraction on the unfused sensor data. A limited-memory data structure with a re…