11 papers
AgenticSwarm: Semantic Perception and Adaptive Task Allocation for Heterogeneous Multi-UAV Missions
Muhammad Ahsan Mustafa, Yasheerah Yaqoot, Faryal Batool +3
Multi UAV missions in complex environments require the system to understand both the surrounding scene and the intent of a human operator while maintaining feasible task allocation…
AgenticDiffusion: Multi-View Reasoning with View-Conditioned Diffusion Planning for Vision-Based UAV Navigation
Faryal Batool, Muhammad Ahsan Mustafa, Fawad Mehboob +2
Vision-based UAV navigation becomes challenging when navigation targets are distributed across complementary camera views and cannot be reliably observed from a single viewpoint. W…
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…
HumanDiffusion: A Vision-Based Diffusion Trajectory Planner with Human-Conditioned Goals for Search and Rescue UAV
Faryal Batool, Iana Zhura, Valerii Serpiva +4
Reliable human--robot collaboration in emergency scenarios requires autonomous systems that can detect humans, infer navigation goals, and operate safely in dynamic environments. T…
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…
FlightDiffusion: Revolutionising Autonomous Drone Training with Diffusion Models Generating FPV Video
Valerii Serpiva, Artem Lykov, Faryal Batool +3
We present FlightDiffusion, a diffusion-model-based framework for training autonomous drones from first-person view (FPV) video. Our model generates realistic video sequences from…
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…
UAV-CodeAgents: Scalable UAV Mission Planning via Multi-Agent ReAct and Vision-Language Reasoning
Oleg Sautenkov, Yasheerah Yaqoot, Muhammad Ahsan Mustafa +5
We present UAV-CodeAgents, a scalable multi-agent framework for autonomous UAV mission generation, built on large language and vision-language models (LLMs/VLMs). The system levera…
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…
AttentionSwarm: Reinforcement Learning with Attention Control Barier Function for Crazyflie Drones in Dynamic Environments
Grik Tadevosyan, Valerii Serpiva, Aleksey Fedoseev +6
We introduce AttentionSwarm, a novel benchmark designed to evaluate safe and efficient swarm control in a dynamic drone racing scenario. Central to our approach is the Attention Mo…
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…