5 papers
Guiding Vector Field Generation via Score-based Diffusion Model
Zirui Chen, Shiliang Guo, Shiyu Zhao
Guiding Vector Fields (GVFs) are a powerful tool for robotic path following. However, classical methods assume smooth, ordered curves and fail when paths are unordered, multi-branc…
Multi-Task Reinforcement Learning of Drone Aerobatics by Exploiting Geometric Symmetries
Zhanyu Guo, Zikang Yin, Guobin Zhu +2
Flight control for autonomous micro aerial vehicles (MAVs) is evolving from steady flight near equilibrium points toward more aggressive aerobatic maneuvers, such as flips, rolls,…
PreGME: Prescribed Performance Control of Aerial Manipulators based on Variable-Gain ESO
Mengyu Ji, Shiliang Guo, Zhengzhen Li +3
An aerial manipulator, comprising a multirotor base and a robotic arm, is subject to significant dynamic coupling between these two components. Therefore, achieving precise and rob…
EvDetMAV: Generalized MAV Detection from Moving Event Cameras
Yin Zhang, Zian Ning, Xiaoyu Zhang +3
Existing micro aerial vehicle (MAV) detection methods mainly rely on the target's appearance features in RGB images, whose diversity makes it difficult to achieve generalized MAV d…
Cooperative Bearing-Only Target Pursuit via Multiagent Reinforcement Learning: Design and Experiment
Jianan Li, Zhikun Wang, Susheng Ding +2
This paper addresses the multi-robot pursuit problem for an unknown target, encompassing both target state estimation and pursuit control. First, in state estimation, we focus on u…