7 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…