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Perception-aware Receding Horizon Navigation for MAVs

Related publications (34)

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Unknown-input observers (UIOs) allow for estimation of the states of an LTI system without knowledge of all inputs. In this letter, we provide a novel data-driven UIO based on behavioral system theory and the result known as Fundamental Lemma proposed by J ...

2022

VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments

Dario Floreano, Valentin Wüest, Fabian Maximilian Schilling, Koji Minoda

Dynamic environments such as urban areas are still challenging for popular visual-inertial odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of these environments, therefore making it difficult to quantitatively eval ...

2021

Are We Ready for Autonomous Drone Racing? The UZH-FPV Drone Racing Datase

Davide Scaramuzza, Titus Cieslewski

Despite impressive results in visual-inertial state estimation in recent years, high speed trajectories with six degree of freedom motion remain challenging for existing estimation algorithms. Aggressive trajectories feature large accelerations and rapid r ...

2019

When and why performance goals predict exploitation behaviors: An achievement goal complex analysis of the selection function of assessment

Fabrizio Butera, David Nguyen, Hamza Sehaqui, Kevin Fahrni, Martin Jobin, Nicolas Sommet

We adopted an achievement goal complex framework (studying achievement goals and reasons connected to goals) to determine when and why performance goals predict exploitation of others' knowledge. We hypothesized that: (i) when selective assessment is used ...

SPRINGER/PLENUM PUBLISHERS2019

Many of the Sustainable Development Goals (SDGs) set by the United Nations for 2030 (UN General Assembly 2015) could not be reached without the contribution of raw materials. Raw materials are fuelling the manufacturing sector and creating jobs and value a ...

Paul Scherrer Institute, World Resources Forum2019

Flying robots require a combination of accuracy and low latency in their state estimation in order to achieve stable and robust flight. However, due to the power and payload constraints of aerial platforms, state estimation algorithms must provide these qu ...

2018

Distributed State Estimation and Cooperative Path-Following Under Communication Constraints

Francisco Fernandes Castro Rego

The main topics of this thesis are distributed estimation and cooperative path-following in the presence of communication constraints, with applications to autonomous marine vehicles. To this end, we study algorithms that take explicitly into account the c ...

EPFL2018

What-if Analysis with Conflicting Goals: Recommending Data Ranges for Exploration

Thành Tâm Nguyên

What-if analysis is a data-intensive exploration to inspect how changes in a set of input parameters of a model influence some outcomes. It is motivated by a user trying to understand the sensitivity of a model to a certain parameter in order to reach a se ...

IEEE2018

Exploring Data Partitions for What-if Analysis

Quoc Viet Hung Nguyen, Thành Tâm Nguyên

2018

Local-polynomial-approximation-based phase unwrapping using state space analysis

Pramod Rastogi, Rishikesh Dilip Kulkarni

A new method of phase unwrapping is proposed for the absolute phase estimation based on the first-order polynomial phase approximation within a symmetric window generated around each pixel. The accurate estimation of polynomial coefficients is performed by ...

2017