My research focuses on Active Cooperative Simultaneous Localization and Mapping (SLAM), within the context of mostly static environments and model-based or model-free tracking of dynamic objects. This work is part of the AirCap project.
The goal of the project 'AeRial outdoor motion CAPture' (AirCap) is to perform on-board, online and real-time full body pose and offline shape estimation of humans and animals in outdoor scenarios, using a team of mic...
IEEE Robotics and Automation Letters, Robotics and Automation Letters, 3, pages: 3193-3200, IEEE, October 2018 (article)
Multi-camera tracking of humans and animals in outdoor environments is a relevant and challenging problem. Our approach to it involves a team of cooperating micro aerial vehicles (MAVs) with on-board cameras only. DNNs often fail at objects with small scale or far away from the camera, which are typical characteristics of a scenario with aerial robots. Thus, the core problem addressed in this paper is how to achieve on-board, online, continuous and accurate vision-based detections using DNNs for visual person tracking through MAVs. Our solution leverages cooperation among multiple MAVs and active selection of most informative regions of image. We demonstrate the efficiency of our approach through simulations with up to 16 robots and real robot experiments involving two aerial robots tracking a person, while maintaining an active perception-driven formation. ROS-based source code is provided for the benefit of the community.
IEEE Transactions on Robotics (T-RO), 33, pages: 1184 - 1199, October 2017 (article)
In this article we present a unified approach for multi-robot cooperative simultaneous localization and object tracking based on particle filters. Our approach is scalable with respect to the number of robots in the team. We introduce a method that reduces, from an exponential to a linear growth, the space and computation time requirements with respect to the number of robots in order to maintain a given level of accuracy in the full state estimation. Our method requires no increase in the number of particles with respect to the number of robots. However, in our method each particle represents a full state hypothesis, leading to the linear dependency on the number of robots of both space and time complexity. The derivation of the algorithm implementing our approach from a standard particle filter algorithm and its complexity analysis are presented. Through an extensive set of simulation experiments on a large number of randomized datasets, we demonstrate the correctness and efficacy of our approach. Through real robot experiments on a standardized open dataset of a team of four soccer playing robots tracking a ball, we evaluate our method's estimation accuracy with respect to the ground truth values. Through comparisons with other methods based on i) nonlinear least squares minimization and ii) joint extended Kalman filter, we further highlight our method's advantages. Finally, we also present a robustness test for our approach by evaluating it under scenarios of communication and vision failure in teammate robots.
Our goal is to understand the principles of Perception, Action and Learning in autonomous systems that successfully interact with complex environments and to use this understanding to design future systems