9 papers
Confidence-Gated Vision-Only Heading Alignment for UAV-UGV Cooperative Systems
Reza Ahmari, Vahid Hemmati, Parham Kebria +3
Vision-based heading prediction is useful for UAV--UGV cooperation, but accurate prediction alone does not guarantee that every predicted heading should be issued directly as a con…
ASMA: An Adaptive Safety Margin Algorithm for Vision-Language Drone Navigation via Scene-Aware Control Barrier Functions
Sourav Sanyal, Kaushik Roy
In the rapidly evolving field of vision-language navigation (VLN), ensuring safety for physical agents remains an open challenge. For a human-in-the-loop language-operated drone to…
Neuro-LIFT: A Neuromorphic, LLM-based Interactive Framework for Autonomous Drone FlighT at the Edge
Amogh Joshi, Sourav Sanyal, Kaushik Roy
The integration of human-intuitive interactions into autonomous systems has been limited. Traditional Natural Language Processing (NLP) systems struggle with context and intent und…
SHIRE: Enhancing Sample Efficiency using Human Intuition in REinforcement Learning
Amogh Joshi, Adarsh Kumar Kosta, Kaushik Roy
The ability of neural networks to perform robotic perception and control tasks such as depth and optical flow estimation, simultaneous localization and mapping (SLAM), and automati…
Energy-Efficient Autonomous Aerial Navigation with Dynamic Vision Sensors: A Physics-Guided Neuromorphic Approach
Sourav Sanyal, Amogh Joshi, Manish Nagaraj +2
Vision-based object tracking is a critical component for achieving autonomous aerial navigation, particularly for obstacle avoidance. Neuromorphic Dynamic Vision Sensors (DVS) or e…
TAXI: Traveling Salesman Problem Accelerator with X-bar-based Ising Macros Powered by SOT-MRAMs and Hierarchical Clustering
Sangmin Yoo, Amod Holla, Sourav Sanyal +5
Ising solvers with hierarchical clustering have shown promise for large-scale Traveling Salesman Problems (TSPs), in terms of latency and energy. However, most of these methods sti…