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2021 24th ISPRS Congress Commission I: Imaging Today, Foreseeing Tomorrow

作者： Kern, A. Fanta-Jende, P. Glira, P. Bruckmüller, F. Sulzbachner, C. Technische Universität Braunschweig Institute of Flight Guidance Germany AIT - Austrian Institute of Technology Center for Vision Automation and Control Assistive and Autonomous Systems Austria Technische Universität Braunschweig Institute of Flight Guidance Germany

UAVs have become an indispensable tool for a variety of mapping applications. Not only in the area of surveying, infrastructure planning and environmental monitoring tasks but also in time-critical applications, such as emergency and disaster response. Although UAVs enable rapid data acquisition per se, data processing usually relies on offline workflows. This contribution presents an accurate real-time data processing solution for UAV mapping applications as well as an extensive experimental and comparative study to the commercial offline solution Pix4D on the absolute accuracy of orthomosaics and digital surface models. We show that our procedure achieves an absolute horizontal and vertical accuracy of about 1 m without the use of ground control. The code will be made publicly available. © Copyright: Author(s) 2021.

关键词： Unmanned aerial vehicles (UAV)

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Two-Step Online Trajectory Planning of a Quadcopter in Indoor Environments with Obstacles

arXiv

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arXiv 2022年

作者： Zimmermann, Martin Vu, Minh Nhat Beck, Florian Nguyen, Anh Kugi, Andreas TU Wien Vienna Austria Center for Vision Automation and Control AIT Austrian Institute of Technology Vienna Austria Department of Computer Science University of Liverpool Liverpool United Kingdom

This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*) algorithm and the Line-of-Sight (LOS) algorithm are employed to generate a collision-free path consisting of multiple waypoints. Then, in the second step, constrained quadratic programming is utilized to compute a smooth trajectory that passes through all computed waypoints. The main contribution of this work is the development of a flexible trajectory planning framework that can detect changes in the environment, such as new obstacles, and compute alternative trajectories in real time. The proposed algorithm actively considers all changes in the environment and performs the replanning process only on waypoints that are occupied by new obstacles. This helps to reduce the computation time and realize the proposed approach in real time. The feasibility of the proposed algorithm is evaluated using the Intel Aero Ready-to-Fly (RTF) quadcopter in simulation and in a real-world experiment. © 2022, CC BY-NC-ND.

关键词： Motion planning

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PDAVIS: Bio-inspired Polarization Event Camera

PDAVIS: Bio-inspired Polarization Event Camera

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IEEE Computer Society Conference on Computer vision and Pattern Recognition Workshops (CVPRW)

作者： Germain Haessig Damien Joubert Justin Haque Moritz B. Milde Tobi Delbruck Viktor Gruev AIT Austrian Institute of Technology Center for Vision Automation & Control High-Performance Vision Systems Vienna Austria Institute of Neuroinformatics University of Zurich and ETH Zurich Switzerland International Centre for Neuromorphic Systems The MARCS Institute Western Sydney University Sydney Australia Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana IL USA

The stomatopod (mantis shrimp) visual system has recently provided a blueprint for the design of paradigm-shifting polarization and multispectral imaging sensors, enabling solutions to challenging medical and remote sensing problems. However, these bioinspired frame-based cameras lack the high dynamic range and asynchronous polarization vision capabilities of the stomatopod visual system, limiting temporal resolution to ~12ms and dynamic range to ~72dB. Here we present a novel stomatopod-inspired polarization camera which mimics the sustained and transient biological visual pathways to save power and sample data beyond the maximum Nyquist frame rate. This bio-inspired sensor simultaneously captures both synchronous intensity frames and asynchronous polarization brightness change information with submillisecond latencies over a millionfold range of illumination. Our PDAVIS camera is comprised of 346x260 pixels, organized in 2-by-2 macropixels, which filter the incoming light with four linear polarization filters offset by 45°. Polarization information is reconstructed using both low-cost and low-latency event-based algorithms and more accurate but slower deep neural networks. Our sensor is used to image high dynamic range polarization scenes that vary at high speeds and to observe the dynamical properties of single collagen fibers in a bovine tendon under rapid cyclical ***: https://***/mFuCeTMWEqY

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LLM-Empowered Embodied Agent for Memory-Augmented Task Planning in Household Robotics

arXiv

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arXiv 2025年

作者： Glocker, Marc Hönig, Peter Hirschmanner, Matthias Vincze, Markus Automation and Control Institute Faculty of Electrical Engineering TU Wien Vienna1040 Austria AIT Austrian Institute of Technology GmbH Center for Vision Automation and Control Vienna1210 Austria

We present an embodied robotic system with an LLM-driven agent-orchestration architecture for autonomous household object management. The system integrates memory-augmented task planning, enabling robots to execute high-level user commands while tracking past actions. It employs three specialized agents: a routing agent, a task planning agent, and a knowledge base agent, each powered by task-specific LLMs. By leveraging in-context learning, our system avoids the need for explicit model training. RAG enables the system to retrieve context from past interactions, enhancing long-term object tracking. A combination of Grounded SAM and LLaMa3.2-vision provides robust object detection, facilitating semantic scene understanding for task planning. Evaluation across three household scenarios demonstrates high task planning accuracy and an improvement in memory recall due to RAG. Specifically, Qwen2.5 yields best performance for specialized agents, while LLaMA3.1 excels in routing tasks. The source code is available at: https://***/marc1198/chat-hsr Copyright © 2025, The Authors. All rights reserved.

关键词： Expert systems

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A stochastic nonlinear model of the dynamics of actively Q-switched lasers

arXiv

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arXiv 2022年

作者： Tarra, Lukas Deutschmann-Olek, Andreas Stummer, Vinzenz Flöry, Tobias Baltuska, Andrius Kugi, Andreas Automation and Control Institute TU Wien Gußhausstraße 27-29 Vienna1040 Austria Photonics Institute TU Wien Gußhausstraße 27-29 Vienna1040 Austria Center for Vision Automation & Control Austrian Institute of Technology Giefinggasse 4 Vienna1210 Austria

In this paper, we present a novel stochastic and spatially lumped multi-mode model to describe the nonlinear dynamics of actively Q-switched lasers and random perturbations due to amplified spontaneous emission. This model will serve as a basis for the design of (nonlinear) control and estimation strategies and thus a high value is set on its computational efficiency. Therefore, a common traveling-wave model is chosen as a starting point and a number of model-order reduction steps are performed. As a result, a set of nonlinear ordinary differential equations for the dynamic behavior of the laser during a switching cycle is obtained. A semi-analytic solution of these differential equations yields expressions for the population inversion after a switching cycle and for the output energy, which are then used to formulate a nonlinear discrete-time model for the pulse-to-pulse dynamics. Simulation studies including models with different levels of complexity and first experimental results demonstrate the feasibility of the proposed approach. © 2022, CC BY.

关键词： Stochastic systems

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Multi-Dimensional control Performance Assessment for Mechatronic Closed-Loop Systems

Multi-Dimensional Control Performance Assessment for Mechatr...

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European control Conference (ECC)

作者： Johannes Huemer Markus Gurtner Patrik Zips Adrian Trachte Andreas Kugi AIT Austrian Institute of Technology GmbH Center for Vision Automation & Control Vienna Austria Robert Bosch GmbH Stuttgart Germany Automation and Control Institute TU Wien Vienna Austria

This paper presents a new method for the multi-dimensional control performance assessment (MCPA), tailored to nonlinear mechatronic systems, which typically exhibit high-dynamic set-point changes and trajectory tracking. The proposed approach combines several performance criteria, which are represented by specifically designed control performance indicators (CPIs), both for the steady-state and dynamic behaviour of the closed-loop system. The individual CPIs also provide valuable feedback to the control engineer how to improve the closed-loop performance. A graphical representation in form of a spider chart makes it easily possible to compare different control structures and controller tunings. A distinct advantage of the proposed MCPA approach is that it can be applied in situ during operation. The feasibility is demonstrated by evaluating the closed-loop performance of two controllers based on measurement data of an industrial electro-hydraulic valve.

关键词： Mechatronics Trajectory tracking Europe Valves Steady-state Nonlinear dynamical systems Tuning

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Reset-control-based current tracking for a solenoid with unknown parameters

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IFAC-PapersOnLine 2021年第5期54卷 199-204页

作者： R. Bertollo M. Schwegel A. Kugi L. Zaccarian Dept. of Industrial Engineering University of Trento Italy Automation and Control Institute TU Wien Austria AIT Austrian Institute of Technology GmbH Center for Vision Automation & Control Vienna Austria LAAS-CNRS Université de Toulouse CNRS Toulouse France

We propose a hybrid controller for reference tracking for the output current of a solenoid. The solenoid can be modeled as a first-order linear plant with unknown parameters. The proposed hybrid controller comprises 1) a feed forward action, based on an estimate of the unknown plant parameters exploiting a hybrid formulation of the recursive least-squares method, and 2) a feedback action, exploiting a reset control scheme based on a first-order reset element. We prove stability properties for the closed-loop system and we show through simulations that the current output converges to the reference for sufficiently exciting reference signals.

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Live Demo: E2P–Events to Polarization Reconstruction from PDAVIS Events

Live Demo: E2P–Events to Polarization Reconstruction from P...

引用

IEEE Computer Society Conference on Computer vision and Pattern Recognition Workshops (CVPRW)

作者： Tobi Delbruck Zuowen Wang Haiyang Mei Germain Haessig Damien Joubert Justin Haque Yingkai Chen Moritz B. Milde Viktor Gruev Sensors Group Institute of Neuroinformatics Univ. of Zurich and ETH Zurich Switzerland AIT Austrian Institute of Technology Center for Vision Automation & Control High-Performance Vision Systems Vienna Austria Intl. Centre for Neuromorphic Systems The MARCS Institute Western Sydney University Sydney Australia Dept. of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana IL USA

This demonstration shows live operation of of PDAVIS polarization event camera reconstruction by the E2P DNN reported in the main CVPR conference paper Deep Polarization Reconstruction with PDAVIS Events (paper 9149 [...

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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

Design of a Flexible Robot Arm for Safe Aerial Physical Inte...

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IEEE International Conference on Soft Robotics (RoboSoft)

作者： Julien Mellet Andrea Berra Achilleas Santi Seisa Viswa Sankaranarayanan Udayanga G.W.K.N. Gamage Miguel Ángel Trujillo Soto Guillermo Heredia George Nikolakopoulos Vincenzo Lippiello Fabio Ruggiero Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Department of Computer Robotics and AI Team Electrical and Space Engineering LuleåUIniversity of Technology Luleå Sweden Department of Electrical Engineering and Photonics Automation and Control Group Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors' integrity. Notably, the arm's damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction.

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3D Online Terrain Mapping with Scanning Radar Sensors 24

3D Online Terrain Mapping with Scanning Radar Sensors

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2020 24th ISPRS Congress on Technical Commission I

作者： Weidinger, C. Kadiofsky, T. Glira, P. Zinner, C. Kubinger, W. Center for Vision Automation and Control AIT Austrian Institute of Technology Vienna Austria Department Industrial Engineering University of Applied Sciences Technikum Wien Vienna Austria

Environmental perception is one of the core requirements in autonomous vehicle navigation. If exposed to harsh conditions, commonly deployed sensors like cameras or lidars deliver poor sensing performance. Millimeter wave radars enable robust sensing of the environment, but suffer from specular reflections and large beamwidths. To incorporate the sensor noise and lateral uncertainty, a new probabilistic, voxel-based recursive mapping method is presented to enable online terrain mapping using scanning radar sensors. For map accuracy evaluation, test measurements are performed with a scanning radar sensor in an off-road area. The voxel map is used to derive a digital terrain model, which can be compared with ground-truth data from an image-based photogrammetric reconstruction of the terrain. The method evaluation shows promising results for terrain mapping solely performed with radar scanners. However, small terrain structures still pose a problem due to larger beamwidths in comparison to lidar sensors. © 2020 Copernicus GmbH. All rights reserved.

关键词： Mapping

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