A method for ego-motion estimation in micro-hovering platforms flying in very cluttered environments

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Human motion analysis and synthesis is integral to many computer vision applications, from autonomous driving to sports analysis. In this thesis, we address several problems in this domain. First we consider active viewpoint selection for pose estimation w ...

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Inertial measurement unit (IMU) sensors are widely used for motion analysis in sports and rehabilitation. The attachment of IMU sensors to predefined body segments and sides (left/right) is complex, time-consuming, and error-prone. Methods for solving the ...

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Control systems operating in real-world environments often face disturbances arising from measurement noise and model mismatch. These factors can significantly impact the perfor- mance and safety of the system. In this thesis, we aim to leverage data to de ...

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Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

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Megapixel single-photon avalanche diode (SPAD) arrays have been developed recently, opening up the possibility of deploying SPADs as general-purpose passive cameras for photography and computer vision. However, most previous work on SPADs has been limited ...

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Over the past two decades, epidural electrical stimulation (EES) has transitioned from a treatment for chronic pain to a promising paradigm for ameliorating deficits associated with neurological disorders like spinal cord injury (SCI) and Parkinson's Disea ...

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Two prominent categories for achieving coordinated multirobot displacement are flocking and navigation in formation. Both categories have their own body of literature and characteristics, including their respective advantages and disadvantages. While typic ...

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Transportation, which deals with moving people and goods around, has a clear impact on the economic development of our society and our well-being. Traditionally, transportation was studied and analyzed using expensive sensors, such as induction loops, that ...

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Optimization and Real-Time Aspects of Aircraft Model-Based Navigation

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The Vehicle Dynamic Model (VDM) based navigation of fixed-wing drones determines the airborne trajectory in conjunction with Inertial Measurement Unit (IMU) sensors. Without Global Navigation Satellite Systems (GNSS) signals, this method estimates navigati ...

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