6 citations · 7 across the 10 of their papers we have counts for
11 papers
Dynamic System Emulation: Fixed Wing Dynamics on a Multicopter
Abdelhakim Amer, Andriy Sarabakha
This work presents a control framework that enables a multicopter equipped with a two-axis gimbal to emulate the flight dynamics of a fixed-wing aircraft. The goal is to provide an…
SeaVis: Modeling and Control of a Remotely Operated Towed Vehicle for Seabed Visualization and Mapping
Abdelhakim Amer, Aske Alstrup, Frederik Rasmussen +3
High-resolution seafloor mapping necessitates stable and precise positioning for underwater robots. This paper introduces a novel mathematical model for SeaVis remotely operated to…
Modelling of Underwater Vehicles using Physics-Informed Neural Networks with Control
Abdelhakim Amer, David Felsager, Yury Brodskiy +1
Physics-informed neural networks (PINNs) integrate physical laws with data-driven models to improve generalization and sample efficiency. This work introduces an open-source implem…
Multi-Agent Path Planning in Complex Environments using Gaussian Belief Propagation with Global Path Finding
Jens Høigaard Jensen, Kristoffer Plagborg Bak Sørensen, Jonas le Fevre Sejersen +1
Multi-agent path planning is a critical challenge in robotics, requiring agents to navigate complex environments while avoiding collisions and optimizing travel efficiency. This wo…
Continual Learning for Robust Gate Detection under Dynamic Lighting in Autonomous Drone Racing
Zhongzheng Qiao, Xuan Huy Pham, Savitha Ramasamy +3
In autonomous and mobile robotics, a principal challenge is resilient real-time environmental perception, particularly in situations characterized by unknown and dynamic elements,…
anafi_ros: from Off-the-Shelf Drones to Research Platforms
Andriy Sarabakha
The off-the-shelf drones are simple to operate and easy to maintain aerial systems. However, due to proprietary flight software, these drones usually do not provide any open-source…
PencilNet: Zero-Shot Sim-to-Real Transfer Learning for Robust Gate Perception in Autonomous Drone Racing
Huy Xuan Pham, Andriy Sarabakha, Mykola Odnoshyvkin +1
In autonomous and mobile robotics, one of the main challenges is the robust on-the-fly perception of the environment, which is often unknown and dynamic, like in autonomous drone r…
Towards Remote Robotic Competitions: An Internet-Connected Task Board and Dashboard
Peter So, Jonas Wittmann, Patrick Ruhkamp +2
In this work we present a platform to assess robot platform skills using an internet-of-things (IoT) task board device to aggregate performances across remote sites. We demonstrate…
Image Generation for Efficient Neural Network Training in Autonomous Drone Racing
Theo Morales, Andriy Sarabakha, Erdal Kayacan
Drone racing is a recreational sport in which the goal is to pass through a sequence of gates in a minimum amount of time while avoiding collisions. In autonomous drone racing, one…
Online Deep Learning for Improved Trajectory Tracking of Unmanned Aerial Vehicles Using Expert Knowledge
Andriy Sarabakha, Erdal Kayacan
This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed…
Knowledge Transfer Between Robots with Similar Dynamics for High-Accuracy Impromptu Trajectory Tracking
Siqi Zhou, Andriy Sarabakha, Erdal Kayacan +2
In this paper, we propose an online learning approach that enables the inverse dynamics model learned for a source robot to be transferred to a target robot (e.g., from one quadrot…