8 papers
AgenticRL: Agentic Reinforcement Learning with Self-Refinement for Complex UAV Navigation
Roohan Ahmed Khan, Yasheerah Yaqoot, Amir Atef Habel +2
Deep reinforcement learning enables autonomous robots to learn complex navigation tasks, but still relies heavily on time consuming manual reward design and fine tuning. Existing a…
GoalVLM: VLM-driven Object Goal Navigation for Multi-Agent System
MoniJesu James, Amir Atef Habel, Aleksey Fedoseev +1
Object-goal navigation has traditionally been limited to ground robots with closed-set object vocabularies. Existing multi-agent approaches depend on precomputed probabilistic grap…
GoalSwarm: Multi-UAV Semantic Coordination for Open-Vocabulary Object Navigation
MoniJesu Wonders James, Amir Atef Habel, Aleksey Fedoseev +1
Cooperative visual semantic navigation is a foundational capability for aerial robot teams operating in unknown environments. However, achieving robust open-vocabulary object-goal…
Adaptive SINDy: Residual Force System Identification Based UAV Disturbance Rejection
Fawad Mehboob, Amir Atef Habel, Roohan Ahmed Khan +3
The stability and control of Unmanned Aerial Vehicles (UAVs) in a turbulent environment is a matter of great concern. Devising a robust control algorithm to reject disturbances is…
GustPilot: A Hierarchical DRL-INDI Framework for Wind-Resilient Quadrotor Navigation
Amir Atef Habel, Roohan Ahmed Khan, Fawad Mehboob +2
Wind disturbances remain a key barrier to reliable autonomous navigation for lightweight quadrotors, where the rapidly varying airflow can destabilize both planning and tracking. T…
Glove2UAV: A Wearable IMU-Based Glove for Intuitive Control of UAV
Amir Habel, Ivan Snegirev, Elizaveta Semenyakina +6
This paper presents Glove2UAV, a wearable IMU-glove interface for intuitive UAV control through hand and finger gestures, augmented with vibrotactile warnings for exceeding predefi…
DroneVLA: VLA based Aerial Manipulation
Fawad Mehboob, Monijesu James, Amir Habel +3
As aerial platforms evolve from passive observers to active manipulators, the challenge shifts toward designing intuitive interfaces that allow non-expert users to command these sy…
YawSitter: Modeling and Controlling a Tail-Sitter UAV with Enhanced Yaw Control
Amir Habel, Fawad Mehboob, Jeffrin Sam +2
Achieving precise lateral motion modeling and decoupled control in hover remains a significant challenge for tail-sitter Unmanned Aerial Vehicles (UAVs), primarily due to complex a…