8 papers
AION: Aerial Indoor Object-Goal Navigation Using Dual-Policy Reinforcement Learning
Zichen Yan, Yuchen Hou, Shenao Wang +3
Object-Goal Navigation (ObjectNav) requires an agent to autonomously explore an unknown environment and navigate toward target objects specified by a semantic label. While prior wo…
MARS-Dragonfly: Agile and Robust Flight Control of Modular Aerial Robot Systems
Rui Huang, Zhiqian Cai, Siyu Tang +6
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditio…
AERO-MPPI: Anchor-Guided Ensemble Trajectory Optimization for Agile Mapless Drone Navigation
Xin Chen, Rui Huang, Longbin Tang +1
Agile mapless navigation in cluttered 3D environments poses significant challenges for autonomous drones. Conventional mapping-planning-control pipelines incur high computational c…
SIGN: Safety-Aware Image-Goal Navigation for Autonomous Drones via Reinforcement Learning
Zichen Yan, Rui Huang, Lei He +2
Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior wo…
Stabilization of Nonlinear Systems with State-Dependent Representation: From Model-Based to Direct Data-Driven Control
Lidong Li, Rui Huang, Lin Zhao
This paper presents a novel framework for stabilizing nonlinear systems represented in state-dependent form. We first reformulate the nonlinear dynamics as a state-dependent parame…
TransforMARS: Fault-Tolerant Self-Reconfiguration for Arbitrarily Shaped Modular Aerial Robot Systems
Rui Huang, Zhiyu Gao, Siyu Tang +4
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MA…