6 papers
Lyapunov-Based PI-Like Control for Robust Trajectory Tracking of a Four-Wheel Independently Driven and Steered Robot: Design and Experimental Validation
Branimir Äaran, Vladimir MiliÄ, Marko Å vaco +1
In this paper, a Lyapunov-based synthesis of a PI-like controller is proposed for robust trajectory tracking of an independently driven and steered four-wheel mobile robot. For the…
EKF-Based Depth Camera and Deep Learning Fusion for UAV-Person Distance Estimation and Following in SAR Operations
Luka Å iktar, Branimir Äaran, Bojan Å ekoranja +1
Vision-based Unmanned Aerial Vehicles (UAVs) frameworks aid human search tasks by detecting and recognizing specific individuals, then tracking and following them while maintaining…
Autonomous overtaking trajectory optimization using reinforcement learning and opponent pose estimation
Matej Rene Cihlar, Luka Å iktar, Branimir Äaran +1
Vehicle overtaking is one of the most complex driving maneuvers for autonomous vehicles. To achieve optimal autonomous overtaking, driving systems rely on multiple sensors that ena…
Motion Compensation for Real Time Ultrasound Scanning in Robotically Assisted Prostate Biopsy Procedures
Matija Markulin, Luka MatijeviÄ, Luka Siktar +5
Prostate cancer is one of the most common types of cancer in men. Its diagnosis by biopsy requires a high level of expertise and precision from the surgeon, so the results are high…
Odometry Calibration and Pose Estimation of a 4WIS4WID Mobile Wall Climbing Robot
Branimir Äaran, Vladimir MiliÄ, Marko Å vaco +1
This paper presents the design of a pose estimator for a four wheel independent steer four wheel independent drive (4WIS4WID) wall climbing mobile robot, based on the fusion of mul…
Autonomous UAV Navigation for Search and Rescue Missions Using Computer Vision and Convolutional Neural Networks
Luka Å iktar, Branimir Äaran, Bojan Å ekoranja +1
In this paper, we present a subsystem, using Unmanned Aerial Vehicles (UAV), for search and rescue missions, focusing on people detection, face recognition and tracking of identifi…