23 citations · 96 across the 57 of their papers we have counts for
52 papers · 1 filter
FlockDiffusion: Assignment-Conditioned Diffusion for Multi-Drone Task Allocation and Completion
Iana Zhura, Satenik Akopyan, Roohan Ahmed Khan +3
Autonomous multi-drone navigation requires fleets to service distributed objectives in cluttered environments under tight computational budgets. Efficient coordination depends on t…
GeminiPainter's sequence-formed pipeline comprised of perception, cognition, planning, and action stages
Miguel Altamirano Cabrera, Aleksey Fedoseev, Iana Zhura +1
We present an autonomous robotic portrait-generation system combining real-time face detection, AI-based sketch generation, and robotic drawing. The system captures video frames, e…
GoalVLM: VLM-driven Object Goal Navigation for Multi-Agent System
MoniJesu James, Amir Atef Habel, Aleksey Fedoseev +1
Object-goal navigation has traditionally been limited to ground robots with closed-set object vocabularies. Existing multi-agent approaches depend on precomputed probabilistic grap…
GoalSwarm: Multi-UAV Semantic Coordination for Open-Vocabulary Object Navigation
MoniJesu Wonders James, Amir Atef Habel, Aleksey Fedoseev +1
Cooperative visual semantic navigation is a foundational capability for aerial robot teams operating in unknown environments. However, achieving robust open-vocabulary object-goal…
ImpedanceDiffusion: Diffusion-Based Global Path Planning for UAV Swarm Navigation with Generative Impedance Control
Faryal Batool, Yasheerah Yaqoot, Muhammad Ahsan Mustafa +3
Safe swarm navigation in cluttered indoor environment requires long-horizon planning, reactive obstacle avoidance, and adaptive compliance. We propose ImpedanceDiffusion, a hierarc…
Hybrid F' and ROS2 Architecture for Vision-Based Autonomous Flight: Design and Experimental Validation
Abdelrahman Metwally, Monijesu James, Aleksey Fedoseev +3
Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system comb…
DiffusionCinema: Text-to-Aerial Cinematography
Valerii Serpiva, Artem Lykov, Jeffrin Sam +2
We propose a novel Unmanned Aerial Vehicles (UAV) assisted creative capture system that leverages diffusion models to interpret high-level natural language prompts and automaticall…
EmbodiedDiffusion: End-to-End Traversability-Guided Visual Diffusion for Heterogeneous Robot Navigation
Iana Zhura, Sausar Karaf, Faryal Batool +7
Visual traversability estimation is central to autonomous navigation, yet most approaches either rely on prompt-driven Vision-Language Model (VLM) or decouple traversability from t…
Prometheus: Universal, Open-Source Mocap-Based Teleoperation System with Force Feedback for Dataset Collection in Robot Learning
S. Satsevich, A. Bazhenov, S. Egorov +4
This paper presents a novel teleoperation system with force feedback, utilizing consumer-grade HTC Vive Trackers 2.0. The system integrates a custom-built controller, a UR3 robotic…
SwarmVLM: VLM-Guided Impedance Control for Autonomous Navigation of Heterogeneous Robots in Dynamic Warehousing
Malaika Zafar, Roohan Ahmed Khan, Faryal Batool +5
With the growing demand for efficient logistics, unmanned aerial vehicles (UAVs) are increasingly being paired with automated guided vehicles (AGVs). While UAVs offer the ability t…
NMPC-Lander: Nonlinear MPC with Barrier Function for UAV Landing on a Mobile Platform
Amber Batool, Faryal Batool, Roohan Ahmed Khan +3
Quadcopters are versatile aerial robots gaining popularity in numerous critical applications. However, their operational effectiveness is constrained by limited battery life and re…
ImpedanceGPT: VLM-driven Impedance Control of Swarm of Mini-drones for Intelligent Navigation in Dynamic Environment
Faryal Batool, Yasheerah Yaqoot, Malaika Zafar +4
Swarm robotics plays a crucial role in enabling autonomous operations in dynamic and unpredictable environments. However, a major challenge remains ensuring safe and efficient navi…
MAGNNET: Multi-Agent Graph Neural Network-based Efficient Task Allocation for Autonomous Vehicles with Deep Reinforcement Learning
Lavanya Ratnabala, Aleksey Fedoseev, Robinroy Peter +1
This paper addresses the challenge of decentralized task allocation within heterogeneous multi-agent systems operating under communication constraints. We introduce a novel framewo…
AgilePilot: DRL-Based Drone Agent for Real-Time Motion Planning in Dynamic Environments by Leveraging Object Detection
Roohan Ahmed Khan, Valerii Serpiva, Demetros Aschalew +2
Autonomous drone navigation in dynamic environments remains a critical challenge, especially when dealing with unpredictable scenarios including fast-moving objects with rapidly ch…
HetSwarm: Cooperative Navigation of Heterogeneous Swarm in Dynamic and Dense Environments through Impedance-based Guidance
Malaika Zafar, Roohan Ahmed Khan, Aleksey Fedoseev +2
With the growing demand for efficient logistics and warehouse management, unmanned aerial vehicles (UAVs) are emerging as a valuable complement to automated guided vehicles (AGVs).…
SafeSwarm: Decentralized Safe RL for the Swarm of Drones Landing in Dense Crowds
Grik Tadevosyan, Maksim Osipenko, Demetros Aschu +5
This paper introduces a safe swarm of drones capable of performing landings in crowded environments robustly by relying on Reinforcement Learning techniques combined with Safe Lear…
FlightAR: AR Flight Assistance Interface with Multiple Video Streams and Object Detection Aimed at Immersive Drone Control
Oleg Sautenkov, Selamawit Asfaw, Yasheerah Yaqoot +4
The swift advancement of unmanned aerial vehicle (UAV) technologies necessitates new standards for developing human-drone interaction (HDI) interfaces. Most interfaces for HDI, esp…
SwarmPath: Drone Swarm Navigation through Cluttered Environments Leveraging Artificial Potential Field and Impedance Control
Roohan Ahmed Khan, Malaika Zafar, Amber Batool +2
In the area of multi-drone systems, navigating through dynamic environments from start to goal while providing collision-free trajectory and efficient path planning is a significan…
SharpSLAM: 3D Object-Oriented Visual SLAM with Deblurring for Agile Drones
Denis Davletshin, Iana Zhura, Vladislav Cheremnykh +3
The paper focuses on the algorithm for improving the quality of 3D reconstruction and segmentation in DSP-SLAM by enhancing the RGB image quality. SharpSLAM algorithm developed by…
TiltXter: CNN-based Electro-tactile Rendering of Tilt Angle for Telemanipulation of Pasteur Pipettes
Miguel Altamirano Cabrera, Jonathan Tirado, Aleksey Fedoseev +4
The shape of deformable objects can change drastically during grasping by robotic grippers, causing an ambiguous perception of their alignment and hence resulting in errors in robo…
Industry 6.0: New Generation of Industry driven by Generative AI and Swarm of Heterogeneous Robots
Artem Lykov, Miguel Altamirano Cabrera, Mikhail Konenkov +8
This paper presents the concept of Industry 6.0, introducing the world's first fully automated production system that autonomously handles the entire product design and manufacturi…
HyperSurf: Quadruped Robot Leg Capable of Surface Recognition with GRU and Real-to-Sim Transferring
Sergei Satsevich, Yaroslav Savotin, Danil Belov +7
This paper introduces a system of data collection acceleration and real-to-sim transferring for surface recognition on a quadruped robot. The system features a mechanical single-le…
OmniRace: 6D Hand Pose Estimation for Intuitive Guidance of Racing Drone
Valerii Serpiva, Aleksey Fedoseev, Sausar Karaf +2
This paper presents the OmniRace approach to controlling a racing drone with 6-degree of freedom (DoF) hand pose estimation and gesture recognition. To our knowledge, it is the fir…
TornadoDrone: Bio-inspired DRL-based Drone Landing on 6D Platform with Wind Force Disturbances
Robinroy Peter, Lavanya Ratnabala, Demetros Aschu +2
Autonomous drone navigation faces a critical challenge in achieving accurate landings on dynamic platforms, especially under unpredictable conditions such as wind turbulence. Our r…