10 papers
AgenticDiffusion: Agentic Diffusion-based Path Planning for Vision-Based UAV Navigation
Faryal Batool, Muhammad Ahsan Mustafa, Fawad Mehboob +2
Indoor UAV navigation requires efficient exploration, scene understanding, and reliable trajectory execution under limited field-of-view observations. Existing vision-based navigat…
ImpedanceDiffusion: Diffusion-Based Global Path Planning for UAV Swarm Navigation with Generative Impedance Control
Faryal Batool, Yasheerah Yaqoot, Muhammad Ahsan Mustafa +3
Safe swarm navigation in cluttered indoor environment requires long-horizon planning, reactive obstacle avoidance, and adaptive compliance. We propose ImpedanceDiffusion, a hierarc…
HumanDiffusion: A Vision-Based Diffusion Trajectory Planner with Human-Conditioned Goals for Search and Rescue UAV
Faryal Batool, Iana Zhura, Valerii Serpiva +4
Reliable human--robot collaboration in emergency scenarios requires autonomous systems that can detect humans, infer navigation goals, and operate safely in dynamic environments. T…
EmbodiedDiffusion: End-to-End Traversability-Guided Visual Diffusion for Heterogeneous Robot Navigation
Iana Zhura, Sausar Karaf, Faryal Batool +7
Visual traversability estimation is central to autonomous navigation, yet most approaches either rely on prompt-driven Vision-Language Model (VLM) or decouple traversability from t…
AttentionSwarm: Reinforcement Learning with Attention Control Barier Function for Crazyflie Drones in Dynamic Environments
Grik Tadevosyan, Valerii Serpiva, Aleksey Fedoseev +6
We introduce AttentionSwarm, a novel benchmark designed to evaluate safe and efficient swarm control in a dynamic drone racing scenario. Central to our approach is the Attention Mo…
ImpedanceGPT: VLM-driven Impedance Control of Swarm of Mini-drones for Intelligent Navigation in Dynamic Environment
Faryal Batool, Yasheerah Yaqoot, Malaika Zafar +4
Swarm robotics plays a crucial role in enabling autonomous operations in dynamic and unpredictable environments. However, a major challenge remains ensuring safe and efficient navi…