38 citations · 42 across the 11 of their papers we have counts for
12 papers
SwarmNxt: Open-source Software-Hardware Platform for Fast and Agile Aerial Swarms
Charbel Toumieh, Niel Mistry, Benjamin Jarvis +4
Aerial robot swarms have the potential to transform time-critical safety, security, and search-and-rescue operations. By coordinating multiple robots, they can rapidly survey disas…
Flying Together: Human-Guided Immersive Shared Control for Aerial Robot Teams in Unknown Environments
Lou De Bel-Air, Luca Morando, Ruitao Chen +7
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstru…
Accurate Trajectory Tracking with Model Predictive Contouring Control for Bird-Scale Flapping-Wing MAVs
Charbel Toumieh, Jack Zeng, Niel Mistry +1
Flapping-wing micro aerial vehicles offer quieter and safer operation than rotary-wing drones, yet achieving precise autonomous control of bird-scale ornithopters remains challengi…
Flight through Narrow Gaps with Morphing-Wing Drones
Julius Wanner, Hoang-Vu Phan, Charbel Toumieh +1
The size of a narrow gap traversable by a fixed-wing drone is limited by its wingspan. Inspired by birds, here, we enable the traversal of a gap of sub-wingspan width and height us…
ChartComplete: A Taxonomy-based Inclusive Chart Dataset
Ahmad Mustapha, Charbel Toumieh, Mariette Awad
With advancements in deep learning (DL) and computer vision techniques, the field of chart understanding is evolving rapidly. In particular, multimodal large language models (MLLMs…
Adaptive morphing of wing and tail for stable, resilient, and energy-efficient flight of avian-informed drones
Simon L. Jeger, Valentin Wüest, Charbel Toumieh +1
Avian-informed drones feature morphing wing and tail surfaces, enhancing agility and adaptability in flight. Despite their large potential, realising their full capabilities remain…
High-Speed Motion Planning for Aerial Swarms in Unknown and Cluttered Environments
Charbel Toumieh, Dario Floreano
Coordinated flight of multiple drones allows to achieve tasks faster such as search and rescue and infrastructure inspection. Thus, pushing the state-of-the-art of aerial swarms in…
Decentralized Multi-Agent Planning for Multirotors: a Fully Online and Communication Latency Robust Approach
Charbel Toumieh
There are many industrial, commercial and social applications for multi-agent planning for multirotors such as autonomous agriculture, infrastructure inspection and search and resc…
Multirotor Planning in Dynamic Environments using Temporal Safe Corridors
Charbel Toumieh, Alain Lambert
In this paper, we propose a new method for multirotor planning in dynamic environments. The environment is represented as a temporal occupancy grid which gives the current as well…
MACE: Multi-Agent Autonomous Collaborative Exploration of Unknown Environments
Charbel Toumieh, Alain Lambert
In this paper, we propose a new framework for multi-agent collaborative exploration of unknown environments. The proposed method combines state-of-the-art algorithms in mapping, sa…
Shape-aware Safe Corridors Generation using Voxel Grids
Charbel Toumieh, Alain Lambert
Safe Corridors (a series of overlapping convex shapes) have been used recently in multiple state-of-the-art motion planning methods. They allow to represent the free space in the e…
GPU Accelerated Voxel Grid Generation for Fast MAV Exploration
Charbel Toumieh, Alain Lambert
Voxel grids are a minimal and efficient environment representation that is used for robot motion planning in numerous tasks. Many state-of-the-art planning algorithms use voxel gri…