3 papers
cs.RO2026
Decentralized Scalable Exploration via Emergent Adaptive Lévy Walks on Minimal-Sensing Platforms
Wai Lun Leong, Teo Swee Huat Rodney
Efficient autonomous exploration with palm-sized nano-UAVs remains challenging due to severe limitations in sensing, computation, and flight endurance. We present a lightweight sen…
cs.RO2026
Terminal Constraint Model Predictive Control for Image-Based Visual Servoing of UAVs with Kalman Filter-Based Moment Loss Compensation
X. Wang, Y. Cao, W. L. W. Leong +4
Image-Based Visual Servoing (IBVS) provides an efficient vision-guided control paradigm for unmanned aerial vehicles (UAVs) by directly regulating image-space errors. However, conv…
cs.RO2025
GO-Flock: Goal-Oriented Flocking in 3D Unknown Environments with Depth Maps
Yan Rui Tan, Wenqi Liu, Wai Lun Leong +4
Artificial Potential Field (APF) methods are widely used for reactive flocking control, but they often suffer from challenges such as deadlocks and local minima, especially in the…