Sim-to-Real Vision-Depth Fusion CNNs for Robust Pose Estimation Aboard Autonomous Nano-quadcopters
Nano-quadcopters are versatile platforms attracting the interest of both academia and
industry. Their tiny form factor, ie,~ 10 cm diameter, makes them particularly useful in narrow …
industry. Their tiny form factor, ie,~ 10 cm diameter, makes them particularly useful in narrow …
Resonant Beam Enabled Relative Localization for UAV Swarm
The relative localization (RL) of unmanned aerial vehicle (UAV) swarms has gained
considerable traction within the realm of UAV formation control. However, most existing RL …
considerable traction within the realm of UAV formation control. However, most existing RL …
Virtual omnidirectional perception for downwash prediction within a team of nano multirotors flying in close proximity
A Moldagalieva, W Hönig - … on Multi-Robot and Multi-Agent …, 2023 - ieeexplore.ieee.org
Teams of flying robots can be used for inspection, delivery, and construction tasks, in which
they might be required to fly very close to each other. In such close-proximity cases …
they might be required to fly very close to each other. In such close-proximity cases …
High-throughput visual nano-drone to nano-drone relative localization using onboard fully convolutional networks
Relative drone-to-drone localization is a fundamental building block for any swarm
operations. We address this task in the context of miniaturized nano-drones, ie, 10cm in …
operations. We address this task in the context of miniaturized nano-drones, ie, 10cm in …
Self-Supervised Learning of Visual Robot Localization Using LED State Prediction as a Pretext Task
We propose a novel self-supervised approach for learning to visually localize robots
equipped with controllable LEDs. We rely on a few training samples labeled with position …
equipped with controllable LEDs. We rely on a few training samples labeled with position …
Design and implementation of tiny Deep Neural Networks for landing pad detection on UAVs
This paper presents a design paradigm to implement convolutional neural networks (CNNs)
on low-power commercial microcontrollers for the detection of landing pads in small-size …
on low-power commercial microcontrollers for the detection of landing pads in small-size …
Exploring Unstructured Environments using Minimal Sensing on Cooperative Nano-Drones
P Arias-Perez, A Gautam… - IEEE Robotics and …, 2024 - ieeexplore.ieee.org
Recent advances have improved autonomous navigation and mapping under payload
constraints, but current multi-robot inspection algorithms are unsuitable for nano-drones …
constraints, but current multi-robot inspection algorithms are unsuitable for nano-drones …
RHAML: Rendezvous-based Hierarchical Architecture for Mutual Localization
Mutual localization serves as the foundation for collaborative perception in multi-robot
systems. Effectively utilizing limited onboard sensors for mutual localization between marker …
systems. Effectively utilizing limited onboard sensors for mutual localization between marker …
Monocular Depth Estimation for Drone Obstacle Avoidance in Indoor Environments
H Zheng, S Rajadnya, A Zakhor - 2024 IEEE/RSJ International …, 2024 - ieeexplore.ieee.org
Autonomous nano-quadcopters possess large potential for indoor use. Existing works on
autonomous flight however rely on large amounts of compute, therefore resulting in heavy …
autonomous flight however rely on large amounts of compute, therefore resulting in heavy …
Uncertainty-Aware Semi-Supervised Semantic Key Point Detection via Bundle Adjustment
Visual relative localization is widely used in multi-robot systems. While semantic key points
offer a promising solution for 6DoF pose estimation, manual data labeling for network …
offer a promising solution for 6DoF pose estimation, manual data labeling for network …