4 citations · 4 across the 11 of their papers we have counts for
15 papers
GPU-Accelerated Path-Dependent Marginal Information Gain for Autonomous Exploration
João Félix Mendes, Rodrigo Ventura, Meysam Basiri
Autonomous exploration demands that robots continuously evaluate candidate viewpoints based on their expected information gain and execution cost. Sampling-based planners estimate…
Centralized Multi-UAV Exploration and 3D Reconstruction Using Single-UAV Planners
João Félix Mendes, Meysam Basiri, Rodrigo Ventura
Extending single Unmanned Aerial Vehicles (UAVs) exploration methods to multi-UAV teams can improve coverage speed and robustness, but introduces challenges such as consistent mapp…
Asymptotically-Bounded 3D Frontier Exploration enhanced with Bayesian Information Gain
John Lewis, Meysam Basiri, Pedro U. Lima
Robotic exploration in large-scale environments is computationally demanding due to the high overhead of processing extensive frontiers. This article presents an OctoMap-based fron…
Enhancing Multi-Robot Exploration Using Probabilistic Frontier Prioritization with Dirichlet Process Gaussian Mixtures
John Lewis Devassy, Meysam Basiri, Mário A. T. Figueiredo +1
Multi-agent autonomous exploration is essential for applications such as environmental monitoring, search and rescue, and industrial-scale surveillance. However, effective coordina…
Lightweight 3D LiDAR-Based UAV Tracking: An Adaptive Extended Kalman Filtering Approach
Nivand Khosravi, Meysam Basiri, Rodrigo Ventura
Accurate relative positioning is crucial for swarm aerial robotics, enabling coordinated flight and collision avoidance. Although vision-based tracking has been extensively studied…
Unsupervised LiDAR-Based Multi-UAV Detection and Tracking Under Extreme Sparsity
Nivand Khosravi, Rodrigo Ventura, Meysam Basiri
Non-repetitive solid-state LiDAR scanning leads to an extremely sparse measurement regime for detecting airborne UAVs: a small quadrotor at 10-25 m typically produces only 1-2 retu…
Robust Cooperative Localization in Featureless Environments: A Comparative Study of DCL, StCL, CCL, CI, and Standard-CL
Nivand Khosravi, Rodrigo Ventura, Meysam Basiri
Cooperative localization (CL) enables accurate position estimation in multi-robot systems operating in GPS-denied environments. This paper presents a comparative study of five CL a…
Distributed Kalman--Consensus Filtering with Adaptive Uncertainty Weighting for Multi-Object Tracking in Mobile Robot Networks
Niusha Khosravi, Rodrigo Ventura, Meysam Basiri
This paper presents an implementation and evaluation of a Distributed Kalman--Consensus Filter (DKCF) for Multi-Object Tracking (MOT) in mobile robot networks operating under parti…
Path Planning Optimisation for SParse, AwaRe and Cooperative Networked Aerial Robot Teams (SpArC-NARTs): Optimisation Tool and Ground Sensing Coverage Use Cases
Maria Conceição, António Grilo, Meysam Basiri
A networked aerial robot team (NART) comprises a group of agents (e.g., unmanned aerial vehicles (UAVs), ground control stations, etc.) interconnected by wireless links. Inter-agen…
Multitask Reinforcement Learning for Quadcopter Attitude Stabilization and Tracking using Graph Policy
Yu Tang Liu, Afonso Vale, Aamir Ahmad +2
Quadcopter attitude control involves two tasks: smooth attitude tracking and aggressive stabilization from arbitrary states. Although both can be formulated as tracking problems, t…
Frontier Shepherding: A Bio-inspired Multi-robot Framework for Large-Scale Exploration
John Lewis, Meysam Basiri, Pedro U. Lima
Efficient exploration of large-scale environments remains a critical challenge in robotics, with applications ranging from environmental monitoring to search and rescue operations.…
BogieCopter: A Multi-Modal Aerial-Ground Vehicle for Long-Endurance Inspection Applications
Teodoro Dias, Meysam Basiri
The use of Micro Aerial Vehicles (MAVs) for inspection and surveillance missions has proved to be extremely useful, however, their usability is negatively impacted by the large pow…
Tension Estimation and Localization for a Tethered Micro Aerial Robot
Ricardo Martins, Meysam Basiri
This work focuses on the study of tethered fights of a micro quadcopter, with the aim of supplying continuous power to a small-sized aerial robot. Multiple features for facilitatin…
Low-level Active Visual Navigation: Increasing robustness of vision-based localization using potential fields
Romulo T. Rodrigues, Meysam Basiri, A. Pedro Aguiar +1
This paper proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each f…
Feature Based Potential Field for Low-level Active Visual Navigation
Rômulo T. Rodrigues, Meysam Basiri, A. Pedro Aguiar +1
This paper proposes a novel solution for improving visual localization in an active fashion. The solution, based on artificial potential field, associates each feature in the curre…