202 citations · 732 across the 72 of their papers we have counts for
14 papers · 1 filter
Adaptive Keyframe Selection for Scalable 3D Scene Reconstruction in Dynamic Environments
Raman Jha, Yang Zhou, Giuseppe Loianno
In this paper, we propose an adaptive keyframe selection method for improved 3D scene reconstruction in dynamic environments. The proposed method integrates two complementary modul…
PolyFly: Polytopic Optimal Planning for Collision-Free Cable-Suspended Aerial Payload Transportation
Mrunal Sarvaiya, Guanrui Li, Giuseppe Loianno
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems,…
ThermalGen: Style-Disentangled Flow-Based Generative Models for RGB-to-Thermal Image Translation
Jiuhong Xiao, Roshan Nayak, Ning Zhang +2
Paired RGB-thermal data is crucial for visual-thermal sensor fusion and cross-modality tasks, including important applications such as multi-modal image alignment and retrieval. Ho…
HUNT: High-Speed UAV Navigation and Tracking in Unstructured Environments via Instantaneous Relative Frames
Alessandro Saviolo, Jeffrey Mao, Giuseppe Loianno
Search and rescue operations require unmanned aerial vehicles to both traverse unknown unstructured environments at high speed and track targets once detected. Achieving both capab…
RAPTOR: A Foundation Policy for Quadrotor Control
Jonas Eschmann, Dario Albani, Giuseppe Loianno
Humans are remarkably data-efficient when adapting to new unseen conditions, like driving a new car. In contrast, modern robotic control systems, like neural network policies train…
Smooth Games of Configuration in the Linear-Quadratic Setting
Jesse Milzman, Jeffrey Mao, Giuseppe Loianno
Dynamic game theory offers a toolbox for formalizing and solving for both cooperative and non-cooperative strategies in multi-agent scenarios. However, the optimal configuration of…
NOVA: Navigation via Object-Centric Visual Autonomy for High-Speed Target Tracking in Unstructured GPS-Denied Environments
Alessandro Saviolo, Giuseppe Loianno
Autonomous aerial target tracking in unstructured and GPS-denied environments remains a fundamental challenge in robotics. Many existing methods rely on motion capture systems, pre…
Query-Based Adaptive Aggregation for Multi-Dataset Joint Training Toward Universal Visual Place Recognition
Jiuhong Xiao, Yang Zhou, Giuseppe Loianno
Deep learning methods for Visual Place Recognition (VPR) have advanced significantly, largely driven by large-scale datasets. However, most existing approaches are trained on a sin…
Time-Optimized Safe Navigation in Unstructured Environments through Learning Based Depth Completion
Jeffrey Mao, Raghuram Cauligi Srinivas, Steven Nogar +1
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems…
Intuitive Human-Drone Collaborative Navigation in Unknown Environments through Mixed Reality
Sanket A. Salunkhe, Pranav Nedunghat, Luca Morando +3
Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces…
ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads
Luis F. Recalde, Mrunal Sarvaiya, Giuseppe Loianno +1
Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However…
Optimal Trajectory Planning for Cooperative Manipulation with Multiple Quadrotors Using Control Barrier Functions
Arpan Pallar, Guanrui Li, Mrunal Sarvaiya +1
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses…
UASTHN: Uncertainty-Aware Deep Homography Estimation for UAV Satellite-Thermal Geo-localization
Jiuhong Xiao, Giuseppe Loianno
Geo-localization is an essential component of Unmanned Aerial Vehicle (UAV) navigation systems to ensure precise absolute self-localization in outdoor environments. To address the…
Trajectory Planning and Control for Differentially Flat Fixed-Wing Aerial Systems
Luca Morando, Sanket A. Salunkhe, Nishanth Bobbili +5
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional u…