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Aamir Ahmad (Project leader)
Research Scientist
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Eric Price
Ph.D. Student
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Michael Black
Director
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Rahul Tallamraju
Ph.D. Intern
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Nitin Saini
Ph.D. Student
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Roman Ludwig
Student Assistant
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Igor Martinovic
Affiliated Researcher
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3 results

2018


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Decentralized MPC based Obstacle Avoidance for Multi-Robot Target Tracking Scenarios

Tallamraju, R., Rajappa, S., Black, M. J., Karlapalem, K., Ahmad, A.

The 16th IEEE International Symposium on Safety, Security, and Rescue Robotics, August 2018 (conference) Accepted

Project Page [BibTex]

2018

Project Page [BibTex]


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Deep Neural Network-based Cooperative Visual Tracking through Multiple Micro Aerial Vehicles

Price, E., Lawless, G., Ludwig, R., Martinovic, I., Buelthoff, H. H., Black, M. J., Ahmad, A.

IEEE Robotics and Automation Letters, Robotics and Automation Letters, 3, pages: 3193-3200, IEEE, October 2018 (article)

Abstract
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.

link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


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An Online Scalable Approach to Unified Multirobot Cooperative Localization and Object Tracking

Ahmad, A., Lawless, G., Lima, P.

In IEEE International Conference on Robotics and Automation (ICRA) 2018, Journal Track., May 2018 (inproceedings)

Project Page [BibTex]

Project Page [BibTex]