5 papers
Global Cross-Modal Geo-Localization: A Million-Scale Dataset and a Physical Consistency Learning Framework
Yutong Hu, Jinhui Chen, Chaoqiang Xu +6
Cross-modal Geo-localization (CMGL) matches ground-level text descriptions with geo-tagged aerial imagery, which is crucial for pedestrian navigation and emergency response. Howeve…
Ground-Effect-Aware Modeling and Control for Multicopters
Tiankai Yang, Kaixin Chai, Jialin Ji +3
The ground effect on multicopters introduces several challenges, such as control errors caused by additional lift, oscillations that may occur during near-ground flight due to exte…
Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space
Qianhao Wang, Zhepei Wang, Mingyang Wang +7
Convex polytopes have compact representations and exhibit convexity, which makes them suitable for abstracting obstacle-free spaces from various environments. Existing generation m…
Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms
Jialiang Hou, Xin Zhou, Neng Pan +5
Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm,…
Safe and Agile Transportation of Cable-Suspended Payload via Multiple Aerial Robots
Yongchao Wang, Junjie Wang, Xiaobin Zhou +3
Transporting a heavy payload using multiple aerial robots (MARs) is an efficient manner to extend the load capacity of a single aerial robot. However, existing schemes for the mult…