3D Vision-based Navigation for Indoor Microflyers

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This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

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The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

A vehicle's steering is a particular system in that it is exposed to individual subjective reviews based on criteria that are hard to assess quantitatively. Haptic design of such systems is a prime concern that has been at the center of industrial developm ...

Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in an environment wi ...

We apply inverse reinforcement learning (IRL) with a novel cost feature to the problem of robot navigation in human crowds. Consistent with prior empirical work on pedestrian behavior, the feature anticipates collisions between agents. We efficiently learn ...

Biomimetic retinas with a wide field of view and high resolution are in demand for neuroprosthetics and robot vision. Conventional neural prostheses are manufactured outside the application area and implanted as a complete device using invasive surgery. He ...

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Loop closure detection helps simultaneous localization and mapping systems reduce map and state uncertainty via recognizing previously visited places along the path of a mobile robot. However, visual loop closure detection is susceptible to scenes with dyn ...

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Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

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The rapid development of autonomous driving and mobile mapping calls for off-the-shelf LiDAR SLAM solutions that are adaptive to LiDARs of different specifications on various complex scenarios. To this end, we propose MULLS, an efficient, low-drift, and ve ...

3D Vision-based Navigation for Indoor Microflyers

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