10 papers
D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions
Erdi Sayar, Ersin DaÅ, Joel W. Burdick +2
A key limitation on the use of diffusion models in robotic planning is their inability to inherently enforce safety or dynamical constraints, which often results in physically infe…
Exp2VLA: Enabling Vision-Language-Action for Drone Navigation from Expert Demonstrations
Van Huyen Dang, Kabilesh Rajendran, Erdi Sayar +1
Vision-language-action (VLA) models open a new path toward intuitive robot control by directly linking perception, language, and action in a single end-to-end framework. Yet for UA…
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…
Fuzzy Logic Theory-based Adaptive Reward Shaping for Robust Reinforcement Learning (FARS)
Hürkan Åahin, Van Huyen Dang, Erdi Sayar +2
Reinforcement learning (RL) often struggles in real-world tasks with high-dimensional state spaces and long horizons, where sparse or fixed rewards severely slow down exploration a…
Thermal Image Refinement with Depth Estimation using Recurrent Networks for Monocular ORB-SLAM3
Hürkan Åahin, Huy Xuan Pham, Van Huyen Dang +2
Autonomous navigation in GPS-denied and visually degraded environments remains challenging for unmanned aerial vehicles (UAVs). To this end, we investigate the use of a monocular t…
Edged USLAM: Edge-Aware Event-Based SLAM with Learning-Based Depth Priors
Åebnem Sarıözkan, Hürkan Åahin, Olaya Ãlvarez-Tuñón +1
Conventional visual simultaneous localization and mapping (SLAM) algorithms often fail under rapid motion, low illumination, or abrupt lighting transitions due to motion blur and l…