23 citations · 96 across the 57 of their papers we have counts for
9 papers · 2 filters
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…