05.2024 3D dense mapping in aggressive motions remains challenging.
We have used event cameras to improve dense mapping under
aggressive motions. The performance is even better than several
NERF-based methods.
Please check our
Advanced Intelligent Systems
paper for more details:
Paper:
EVI-SAM: Robust, Real-Time, Tightly-Coupled Event–Visual–Inertial State Estimation and 3D Dense Mapping
Video:
EVI-SAM
04.2024 How to search for unknown dynamic objects in unknown
environments using multiple robots?
We provide a Multi-Agent Reinforcement Learning framework to
solving this issue.
Check our RAL paper and video for more details:
Paper:
HMA-SAR: Multi-Agent Search and Rescue for Unknown Located Dynamic Targets in Completely Unknown Environments
Video:
HMA-SAR
03.2024 How to control quadruped robots with various configurations
(structures, size, weights, etc.) and allow them to walk stably in
various terrains?
We provide one solution to that with our MorAL framework. See our
RAL paper:
Title:
MorAL: Learning Morphologically Adaptive Locomotion Controller for Quadrupedal Robots on Challenging Terrains
Video:
MorAL
03.2024 We have just opensourced the software for our event-based
visual odometry algorithm:
ESVIO.
Code:
Github
Link
Paper:
P. Chen, W. Guan and P. Lu, "ESVIO: Event-Based Stereo Visual Inertial Odometry," in IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3661-3668, June 2023.
02.2024 Our paper on continuum robotic arm has been accepted by
IEEE
Robotics and Automation Letters.
A Tendon-driven Continuum Manipulator with Robust Shape Estimation by
Multiple IMUs
11.2023 Our paper on SLAM has been accepted by
IEEE Transactions on Intelligent Vehicles.
ECMD: An Event-Centric Multisensory Driving Dataset for SLAM
10.2023 Our paper on quadruped robot has been accepted
by
IEEE Robotics and Automation Letters:
FT-Net: Learning Failure Recovery and Fault-tolerant Locomotion For Quadruped Robots
Our FT-net can enable quadruped robots to work even in the presence
of partial and total rotor failures.
09.2023 Our paper on event-based visual odometry has been accepted
by
IEEE Transactions on Automation Science and Engineering:
PL-EVIO: Robust monocular event-based visual inertial odometry with point and line features
Our event-based VO can enable quadrotors to perform aggressive
maneuvers by using the onboard estimation without replying on
motion capture systems.
07.2023 Our paper on deep reinforcement learning has been accepted
by
IEEE Robotics and Automation Letters:
Learning Agile Flights through Narrow Gaps with Varying Angles using Onboard Sensing
06.2023 Our paper on dynamic obstacle avoidance has been accepted
by
IEEE/ASME Transactions on Mechatronics.
Title:
Flying in Dynamic Scenes With Multitarget Velocimetry and
Perception-Enhanced Planning
05.2023 Our paper on visual odometry has been accepted by
IEEE Transactions on Instrumentation and Measurement
Title: Filtering 2D-3D Outliers by Camera Adjustment for Visual Odometry
04.2023 Our event-based VIO has been
accepted by
IEEE Robotics and Automation Letters:
ESVIO: Event-based Stereo Visual Inertial OdometryThe ESVIO
can provide a stable and accurate state estimation in the presence
of aggressive motions (aggressive rotational rates) and dark
environments.
aggressive rotational rates:
from bright to dark environment:
Link
VIDEO Youtube
VIDEO bilibili
03.2023 We are excited to share our aerial continuum arm AeCoM.
AeCoM: An Aerial Continuum Manipulator with IMU-based Kinematic
Modeling and Tendon-slacking Prevention. IEEE Transactions
on Systems, Man, and Cybernetics: Systems, 2023, 1-13.
LINK VIDEO
Youtube
VIDEO Bilibili
07.2022 Our paper
Perception and Avoidance of Multiple Small Fast Moving Objects for
Quadrotors with Only Low-cost RGBD Camera has been
accepted by
IEEE Robotics and Automation Letters
Our quadrotor can avoid multiple fast-moving tennis balls which are
thrown simultaneously or continuously with only a RGBD camera.
PDF
LINK
VIDEO
07.2022 Our paper on event camera-based VIO has been acceptd by
IROS 2022:
Monocular Event Visual Inertial Odometry based on Event-corner
using Sliding Windows Graph-based Optimization
VIDEO
06.2022 Our paper has been accepted by
Journal of Intelligent & Robotic Systems
Terminal Sliding Mode Control for Quadrotors with Chattering Reduction and Disturbances Estimator: Theory and Application
(the work was finished in 2019)
VIDEO
LINK
05.2022 Our papers have been accepted by
Franklin Open.
Event-Triggered Integral Sliding Mode Formation Control for Multiple Quadrotor UAVs with Unknown Disturbances
Comparative Study of State and Unknown Input Estimation for Continuous-discrete Stochastic Systems.
12.04.2022 Our paper
Real-time identification and avoidance of simultaneous static and dynamic obstacles on point cloud for UAVs navigation submitted to
Robotics and Autonomous Systems
has been accepted.
Our drone can avoid both static and dynamic obstacles while
navigating in an unknown environment.
PDF Link
VIDEO
27.01.2022 Our paper
Stereo Orientation Prior for UAV Robust and Accurate Visual Odometry is accepted by
IEEE/ASME Transactions on Mechatronics.
Link
VIDEO
15.09.2021 GUAN W.P. joins the lab as a PhD student. He will be
working on SLAM for ground robots.
23.08.2021 Our paper is accepted by
IEEE Transactions on Neural Networks and Learning Systems
(TNNLS).
Title:
Flying Through a Narrow Gap Using End-to-end Deep Reinforcement
Learning Augmented with Curriculum Learning and Sim2Real
We used purely deep reinforcement learning to tackle the task
instead of referring to any traditional methods.
PDF
Link
Video
20.08.2021 LU Minghao, SUN Jiahao and XIE Yuhan joined the lab as
PhD/Mphil students.
01.07.2021 Our paper is accepeted by
IROS 2021.
Title:
A Motion decoupled Aerial Robotic
Manipulator for Better Inspection
We designed a motion decoupling mechanism and a gravity
compensation mechanism to facilitate the use of these aerial
manipulators for inspection tasks.
Video Link
01.11.2020 XU Juntao and XIE Yuhan joined the lab as research
assistant. They work on the visual tracking and deep reinforcement
learning for drones.
05.09.2020 PENG Rui joined the lab as a PhD student. He was a
Research assistant working on the vision for UAVs.
03.09.2020
A preliminary demo of the quadrotor flight
despite the
loss of two propellers.
VIDEO
This is the demo video for the following paper:
P Lu, E van Kampen,
Active fault-tolerant control for quadrotors subjected to a complete rotor failure,
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4698-4703.
01.09.2020
ArcLab has moved to department of
Mechanical Engineering,
the University of Hong Kong.
01.07.2020
NIE Shengyi and PENG Rui joined the group as a research assistant.
01.07.2020
Paper "
Computationally
Efficient Obstacle Avoidance Trajectory Planner for UAVs Based on
Heuristic Angular Search Method" is accepted by
IROS 2020. Experimental results coming soon.
VIDEO
17.01.2020
Paper "
Nonsingular Terminal Sliding Mode Control for a Quadrotor UAV with a Total Rotor Failure" has been accepted
and published online by Aerospace Science and Technology.
18.12.2019
A preliminary video of
deep reinforcement learning for aggressive
quadrotor flights.
We
purely use deep reinforcement learning to plan the
trajectory of a quadrotor to pass through titled narrow gaps.
VIDEO
15.12.2019
Paper "
Performance comparison of representative model-based fault reconstruction algorithms for aircraft sensor fault detection and diagnosis"
has been accepted and published online by Aerospace Science and Technology.
04.12.2019
Paper "
Dynamic Obstacle Avoidance for UAVs Using a Fast Trajectory Planning Approach
" has been accepted by ROBIO 2019.
PDF
LINK
VIDEO(initial
version)
Drone is passing through moving objects in real time.
06.11.2019
We have won the thrid place in the
IROS Autonomous Drone Racing
competition.
Video for part of
our flight during the competition.
16.10.2019
Welcome our new RA-
Rui CAO.
20.09.2019
A preview of the work on
accurate stereo visual odometry for quadrotors
We developed a stereo-vision Orientation prior visual odometry
for UAV navigation.
Video
20.09.2019
A preview of the video regarding
terminal sliding mode for quadrotors
subjected to rotor failures and external disturbances. Our
proposed method is very robust against partial rotor failures and
external disturbances.
Video
30.08.2019
Welcome our new PhD
Han Chen!
16.08.2019
Video of our work:
Object Pose Estimation using end-to-end CNN for UAVs
Video
20.06.2019
Our paper titled "
Adaptive Unscented Kalman Filter-based Disturbance Rejection With Application to High Precision Hydraulic Robotic Control"
has been accepted by
IROS 2019!
The video of the paper can be found at:
Video
The preliminary version of the paper is at:
PDF
Collaborative paper titled "
Boundary Effect-Aware Visual Tracking for UAV with Online Enhanced Background Learning and Multi-Frame Consensus Verification"
with Tong Ji University has been accepted by
IROS 2019!
24.05.2019
Dr Lu is giving a Keynote at
Global Conference on UAV application
and Anti-UAV 2019.
30.03.2019
Keynote speech at ICEDME 2019.
25.02.2019
Welcome our new RA
Yanhui Guo!
14.02.2019
Welcome our new Postdoc
Zhiwei HOU!
14.01.2019
Welcome our new PhD student
Ran DUAN!
Ran was working in our lab as a Research Assistant before his PhD Study.
02.01.2019
Welcome our new Research Assistant
Zhangjie
TU!
28.11.2018
Dr Peng Lu is invited to give a talk at
South China University of
Technology.
Advanced
control techniques for autonomous UAVs and robotics
14.11-16.11 2018
Dr Peng Lu is invited to give a two-day lecture at
Chengdu
Aircraft Design & Research Institute.
31.10.2018
Welcome our new Research Assistant
Ran DUAN!
18.10.2018
Our paper titled "
Nonlinear Disturbance Attenuation Control of Hydraulic
Robotics"
has been accepted by
ROBIO 2018!
We present an efficient and effective control approach for robotics such
as hydraulic robots.
The link is at:
Paper
The paper is at:
PDF
The video is at:
Youtube Link
12.10.2018
Welcome visitors from
Hong Kong Institution of Engineers (HKIE).
We have performed two successful UAV demos.
01.10.2018
Welcome our new visiting PhD student
Qizhi He!
21.09.2018
Welcome our new RA
Chenxi Xiao!
25.07.2018
Collaborative paper with TU Delft is accepted by
Journal of Guidance,
Control and Dynamics!
Incremental Sliding Mode Fault-Tolerant Flight Control
29.06.2018
Collaborative paper with ETH&UZH RPG Group is accepted by
IROS 2018!
PAMPC: Perception-Aware Model
Predictive Control for Quadrotors
24.05.2018
Dr. Peng Lu is invited to give a talk at
Northwestern
Polytechnical University.
The topic is:
Nonlinear controllers for unmanned aerial vehicles: challenges and
applications
27.12.2017
Dr. Peng Lu is invited to give a talk at
Shanghai
Jiao Tong University.
The topic is:
Advanced motion planning and control techniques for robotics