6 accepted papers
Reinforcement learning (RL) is widely used for humanoid control, with on-policy methods such as Proximal Policy Optimization (PPO) enabling robust training via large-scale parallel simulation and, in some cases, zero-shot deployment to real robots. However, the low sample efficiency of on-policy alg…
Ultra-wideband (UWB)-vision fusion localization has achieved extensive applications in the domain of multiagent relative localization. The challenging matching problem between robots and visual detection renders existing methods highly dependent on identity-encoded hardware or delicate tuning algori
Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It’s challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a blind robot, and becomes more difficult when comes to a group of robots. However, it could b…
Multi-robot system is desired to achieve global cost-efficiency by fully utilizing individual advantages. For example, leveraging unmanned aerial vehicles' (UAVs') agility for inspection and ground vehicles' (UGVs') capability for heavy-duty tasks. Coordinating the motion of multiple robots smartly
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…
This letter presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical methods that tackle UAV control in the world frame, we dire