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View article: Aerial Robots Persistent Monitoring and Target Detection: Deployment and Assessment in the Field
Aerial Robots Persistent Monitoring and Target Detection: Deployment and Assessment in the Field Open
In this article, we present a distributed algorithm for multi-robot persistent monitoring and target detection. In particular, we propose a novel solution that effectively integrates the Time-inverted Kuramoto model, three-dimensional Liss…
Distributed Lloyd-Based Algorithm for Uncertainty-Aware Multi-Robot Under-Canopy Flocking Open
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing a…
View article: On Rapid Parallel Tuning of Controllers of a Swarm of MAVs – Distribution Strategies of the Updated Gains
On Rapid Parallel Tuning of Controllers of a Swarm of MAVs – Distribution Strategies of the Updated Gains Open
In this paper, we present a reliable, scalable, time deterministic, model-free procedure to tune swarms of Micro Aerial Vehicles (MAVs) using basic sensory data. Two approaches to taking advantage of parallel tuning are presented. First, t…
View article: CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments
CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments Open
In this paper, we introduce an algorithm designed to address the problem of time-optimal formation reshaping in three-dimensional environments while preventing collisions between agents. The utility of the proposed approach is particularly…
View article: Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance
Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance Open
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robot…
View article: Fast Swarming of UAVs in GNSS-Denied Feature-Poor Environments Without Explicit Communication
Fast Swarming of UAVs in GNSS-Denied Feature-Poor Environments Without Explicit Communication Open
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced in this letter. A novel model of a UAV neighbo…
View article: Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications
Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications Open
This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a human worker. The approach is designed to monitor the safety o…
View article: AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures
AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures Open
Large-scale infrastructures are prone to deterioration due to age, environmental influences, and heavy usage. Ensuring their safety through regular inspections and maintenance is crucial to prevent incidents that can significantly affect p…
View article: Drones Guiding Drones: Cooperative Navigation of a Less-Equipped Micro Aerial Vehicle in Cluttered Environments
Drones Guiding Drones: Cooperative Navigation of a Less-Equipped Micro Aerial Vehicle in Cluttered Environments Open
Reliable deployment of Unmanned Aerial Vehicles (UAVs) in cluttered unknown environments requires accurate sensors for Global Navigation Satellite System (GNSS)-denied localization and obstacle avoidance. Such a requirement limits the usag…
View article: MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems
MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems Open
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with …
View article: 2022 IEEE Robotics and Automation Society Summer School on Multi-Robot Systems in Prague [Education]
2022 IEEE Robotics and Automation Society Summer School on Multi-Robot Systems in Prague [Education] Open
In recent decades, robotic systems have been used for an increasing number of applications, often involving multiple robots. Although multi-robot systems (MRS) provide benefits like redundancy, robustness, and fault tolerance, they come wi…
View article: New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy for Fast Digitalization of Difficult-to-Access Interiors of Historical Monuments
New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy for Fast Digitalization of Difficult-to-Access Interiors of Historical Monuments Open
Digital documentation of large interiors of historical buildings is an\nexhausting task since most of the areas of interest are beyond typical human\nreach. We advocate the use of autonomous teams of multi-rotor Unmanned Aerial\nVehicles (…
View article: UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT
UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT Open
This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part…
View article: Present and Future of SLAM in Extreme Underground Environments
Present and Future of SLAM in Extreme Underground Environments Open
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT competition. In particular, the paper has four main goals. Fi…
View article: System for Multi-Robotic Exploration of Underground Environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge
System for Multi-Robotic Exploration of Underground Environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge Open
We present a field report of the CTU-CRAS-NORLAB team from the Subterranean Challenge (SubT) organized by the Defense Advanced Research Projects Agency (DARPA). The contest seeks to advance technologies that would improve the safety and ef…
View article: MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments
MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments Open
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor configuratio…
View article: UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT
UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT Open
This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part…
View article: Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle
Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle Open
The use of robotic systems, especially multi-rotor aerial vehicles, in the documentation of historical buildings and cultural heritage monuments has become common in recent years. However, the teleoperated robotic systems have significant …
View article: System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge
System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge Open
We present a field report of CTU-CRAS-NORLAB team from the Subterranean Challenge (SubT) organised by the Defense Advanced Research Projects Agency (DARPA). The contest seeks to advance technologies that would improve the safety and effici…
View article: Autonomous Aerial Filming With Distributed Lighting by a Team of Unmanned Aerial Vehicles
Autonomous Aerial Filming With Distributed Lighting by a Team of Unmanned Aerial Vehicles Open
This letter describes a method for autonomous aerial cinematography with\ndistributed lighting by a team of unmanned aerial vehicles (UAVs). Although\ncamera-carrying multi-rotor helicopters have become commonplace in\ncinematography, thei…
View article: Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles
Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles Open
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally appli…
View article: Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles
Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles Open
A Reflectance Transformation Imaging technique (RTI) realized by multi-rotor\nUnmanned Aerial Vehicles (UAVs) with a focus on deployment in difficult to\naccess buildings is presented in this letter. RTI is a computational\nphotographic me…
View article: Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments
Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments Open
This letter presents a self-contained system for robust deployment of\nautonomous aerial vehicles in environments without access to global navigation\nsystems and with limited lighting conditions. The proposed system,\napplication-tailored…