6 papers
COMET: A Dual Swashplate Autonomous Coaxial Bi-copter AAV with High-Maneuverability and Long-Endurance
Shuai Wang, Xiaoming Tang, Junning Liang +5
Coaxial bi-copter autonomous aerial vehicles (AAVs) have garnered attention due to their potential for improved rotor system efficiency and compact form factor. However, balancing…
Whole-Body Control Through Narrow Gaps From Pixels To Action
Tianyue Wu, Yeke Chen, Tianyang Chen +2
Flying through body-size narrow gaps in the environment is one of the most challenging moments for an underactuated multirotor. We explore a purely data-driven method to master thi…
WING: Wheel-Inertial Neural Odometry with Ground Manifold Constraints
Chenxing Jiang, Kunyi Zhang, Sheng Yang +3
In this paper, we propose an interoceptive-only odometry system for ground robots with neural network processing and soft constraints based on the assumption of a globally continuo…
Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization
Tianyue Wu, Gongye Zaitian, Qianhao Wang +1
This paper explores the distance-based relative state estimation problem in large-scale systems, which is hard to solve effectively due to its high-dimensionality and non-convexity…
Towards Dense and Accurate Radar Perception Via Efficient Cross-Modal Diffusion Model
Ruibin Zhang, Donglai Xue, Yuhan Wang +2
Millimeter wave (mmWave) radars have attracted significant attention from both academia and industry due to their capability to operate in extreme weather conditions. However, they…
Learning Speed Adaptation for Flight in Clutter
Guangyu Zhao, Tianyue Wu, Yeke Chen +1
Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressivene…