Flugrobotik

Innerhalb des Forschungsbereichs Flugrobotik konzentriert sich unser Institut auf die optische Erfassung aus der Luft (Detektion und Verfolgung), die autonome Navigation und die Formationssteuerung von mehreren Flugrobotern. Unser Ansatz umfasst sowohl modernste Regelungsansätze, als auch lernbasierte Methoden, insbesondere das Deep Reinforcement Learning. Weitere Informationen finden Sie unter https://www.aamirahmad.de/projects.

Projekte

Die aktuellsten Informationen zu den Projekten von Flugrobotik/Flight Robotics finden Sie unter:

Publikationen

  1. (Zeitschriften-) Aufsätze

    1. 44.
      Goldschmid, P., & Ahmad, A. (2024). Reinforcement learning based autonomous multi-rotor landing on moving platforms. Autonomous Robots, 48(4), Article 4. https://doi.org/10.1007/s10514-024-10162-8
    2. 43.
      Saini, N., Huang, C.-H. P., Black, M. J., & Ahmad, A. (2023). SmartMocap: Joint Estimation of Human and Camera Motion Using Uncalibrated RGB Cameras. IEEE Robotics and Automation Letters, 8(6), Article 6. https://doi.org/10.1109/LRA.2023.3264743
    3. 42.
      Price, E., Black, M. J., & Ahmad, A. (2023). Viewpoint-Driven Formation Control of Airships for Cooperative Target Tracking. IEEE Robotics and Automation Letters, 8(6), Article 6. https://doi.org/10.1109/LRA.2023.3264727
    4. 41.
      Bonetto, E., Goldschmid, P., Pabst, M., Black, M. J., & Ahmad, A. (2022). iRotate: Active visual SLAM for omnidirectional robots. Robotics and Autonomous Systems. https://doi.org/10.1016/j.robot.2022.104102
    5. 40.
      Saini, N., Bonetto, E., Price, E., Ahmad, A., & Black, M. J. (2022). AirPose: Multi-View Fusion Network for Aerial 3D Human Pose and Shape Estimation. IEEE Robotics and Automation Letters, 7(2), Article 2. https://doi.org/10.1109/LRA.2022.3145494
    6. 39.
      Tallamraju, R., Saini, N., Bonetto, E., Pabst, M., Liu, Y. T., Black, M., & Ahmad, A. (2020). AirCapRL: Autonomous Aerial Human Motion Capture Using Deep Reinforcement Learning. IEEE Robotics and Automation Letters, 5(4), Article 4. https://doi.org/10.1109/LRA.2020.3013906
    7. 38.
      Tallamraju, R., Price, E., Ludwig, R., Karlapalem, K., Bülthoff, H. H., Black, M. J., & Ahmad, A. (2019). Active Perception based Formation Control for Multiple Aerial Vehicles. IEEE Robotics and Automation Letters, 4(4), Article 4. https://doi.org/10.1109/LRA.2019.2932570
    8. 37.
      Price, E., Lawless, G., Ludwig, R., Martinovic, I., Buelthoff, H. H., Black, M. J., & Ahmad, A. (2018). Deep Neural Network-based Cooperative Visual Tracking through Multiple Micro Aerial Vehicles. IEEE Robotics and Automation Letters, 3(4), Article 4. https://doi.org/10.1109/LRA.2018.2850224
    9. 36.
      Ahmad, A., Lawless, G., & Lima, P. (2017). An Online Scalable Approach to Unified Multirobot Cooperative Localization and Object Tracking. IEEE Transactions on Robotics (T-RO), 33, 1184–1199. https://doi.org/10.1109/TRO.2017.2715342
    10. 35.
      Ahmad, A., & Bülthoff, H. (2016). Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception. Robotics and Autonomous Systems, 83, 275--286. https://doi.org/10.1016/j.robot.2016.06.002
    11. 34.
      Lima, P., Ahmad, A., Dias, A., Conceicão, A., Moreira, A., Silva, E., Almeida, L., Oliveira, L., & Nascimento, T. (2015). Formation control driven by cooperative object tracking. Robotics and Autonomous Systems, 63(1), Article 1. https://doi.org/10.1016/j.robot.2014.08.018
    12. 33.
      Ahmad, A., Xavier, J., Santos-Victor, J., & Lima, P. (2014). 3D to 2D bijection for spherical objects under equidistant fisheye projection. Computer Vision and Image Understanding, 125, 172--183. https://doi.org/10.1016/j.cviu.2014.04.004
    13. 32.
      Ahmad, A., & Lima, P. (2013). Multi-robot cooperative spherical-object tracking in 3D space based on particle filters. Robotics and Autonomous Systems, 61(10), Article 10. https://doi.org/10.1016/j.robot.2012.12.008

  2. Konferenzen

    1. 31.
      Saini, N., Price, E., Tallamraju, R., Enficiaud, R., Ludwig, R., Martinović, I., Ahmad, A., & Black, M. (2019). Markerless Outdoor Human Motion Capture Using Multiple Autonomous Micro Aerial Vehicles. Proceedings 2019 IEEE/CVF International Conference on Computer Vision (ICCV), 823--832. https://doi.org/10.1109/ICCV.2019.00091
    2. 30.
      Tallamraju, R., Rajappa, S., Black, M. J., Karlapalem, K., & Ahmad, A. (2018). Decentralized MPC based Obstacle Avoidance for Multi-Robot Target Tracking Scenarios. 2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 1–8. https://doi.org/10.1109/SSRR.2018.8468655
    3. 29.
      Ahmad, A., Ruff, E., & Bülthoff, H. (2016). Dynamic baseline stereo vision-based cooperative target tracking. 19th International Conference on Information Fusion, 1728–1734.
    4. 28.
      Ahmad, A., & Bülthoff, H. (2015). Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception. 7th European Conference on Mobile Robots, 1–8. https://doi.org/10.1109/ECMR.2015.7324197
    5. 27.
      Schneider, S., Hegger, F., Kraetzschmar, G., Amigoni, F., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Iocchi, L., Lima, P., Matteucci, M., Nardi, D., Awaad, I., Ahmad, A., Fontana, G., Hochgeschwender, N., & Schiaffonati, V. (2014, Juni). The RoCKIn@Home User Story.
    6. 26.
      Dwiputra, R., Berghofer, J., Amigoni, F., Bischoff, R., Bonarini, A., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., Ahmad, A., Awaad, I., Fontana, G., Hegger, F., Hochgeschwender, N., Schiaffonati, V., & Schneider, S. (2014, Juni). Overview on the RoCKIn@Work Challenge.

  3. Konferenzbeiträge

    1. 25.
      Patel, M., Bandopadhyay, A., & Ahmad, A. (2022). Collaborative Mapping of Archaeological Sites Using Multiple UAVs. In M. H. Ang Jr, H. Asama, W. Lin, & S. Foong (Hrsg.), Intelligent Autonomous Systems 16 (S. 54--70). Springer International Publishing. https://doi.org/10.1007/978-3-030-95892-3_5
    2. 24.
      Price, E., Liu, Y. T., Black, M. J., & Ahmad, A. (2022). Simulation and Control of Deformable Autonomous Airships in Turbulent Wind. In M. H. Ang Jr, H. Asama, W. Lin, & S. Foong (Hrsg.), Intelligent Autonomous Systems 16 (S. 608--626). Springer International Publishing. https://doi.org/10.1007/978-3-030-95892-3_46
    3. 23.
      Price, E., Liu, Y. T., Black, M. J., & Ahmad, A. (2021, Juni). Simulation and Control of Deformable Autonomous Airships in Turbulent Wind. 16th International Conference on Intelligent Autonomous System (IAS).
    4. 22.
      Bonetto, E., Goldschmid, P., Black, M. J., & Ahmad, A. (2021). Active Visual SLAM with Independently Rotating Camera. 2021 European Conference on Mobile Robots (ECMR), 1–8. https://doi.org/10.1109/ECMR50962.2021.9568791
    5. 21.
      Ahmad, A., Price, E., Tallamraju, R., Saini, N., Lawless, G., Ludwig, R., Martinovic, I., Bülthoff, H. H., & Black, M. J. (2019, November). AirCap -- Aerial Outdoor Motion Capture. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Workshop on Aerial Swarms.
    6. 20.
      Tallamraju, R., Salunkhe, D., Rajappa, S., Ahmad, A., Karlapalem, K., & Shah, S. V. (2019). Motion Planning for Multi-Mobile-Manipulator Payload Transport Systems. 15th IEEE International Conference on Automation Science and Engineering, 1469--1474. https://doi.org/10.1109/COASE.2019.8842840
    7. 19.
      Ventura, R., & Ahmad, A. (2015). Towards Optimal Robot Navigation in Urban Homes. RoboCup 2014: Robot World Cup XVIII, 318–331. https://doi.org/10.1007/978-3-319-18615-3_26
    8. 18.
      Sanz, D., Ahmad, A., & Lima, P. (2015). Onboard robust person detection and tracking for domestic service robots. Robot 2015: Second Iberian Robotics Conference, 547–559. https://doi.org/10.1007/978-3-319-27149-1_42
    9. 17.
      Ahmad, A., & Lima, P. (2015). Dataset Suite for Benchmarking Perception in Robotics. International Conference on Intelligent Robots and Systems (IROS) 2015.
    10. 16.
      Odelga, M., Stegagno, P., Bülthoff, H., & Ahmad, A. (2015). A Setup for multi-UAV hardware-in-the-loop simulations. 204–210. https://doi.org/10.1109/RED-UAS.2015.7441008
    11. 15.
      Ahmad, A., Nascimento, T., Conceicao, A., Moreira, A., & Lima, P. (2013). Perception-driven multi-robot formation control. 1851–1856. https://doi.org/10.1109/ICRA.2013.6630821
    12. 14.
      Troppan, A., Guerreiro, E., Celiberti, F., Santos, G., Ahmad, A., & Lima, P. (2013). Unknown-color spherical object detection and tracking. 1–4. https://doi.org/10.1109/Robotica.2013.6623533
    13. 13.
      Ahmad, A., Tipaldi, G., Lima, P., & Burgard, W. (2013). Cooperative Robot Localization and Target Tracking based on Least Squares Minimization. 5696–5701. https://doi.org/10.1109/ICRA.2013.6631396
    14. 12.
      Ahmad, A., & Lima, P. (2013). Multi-Robot Cooperative Object Tracking Based on Particle Filters. Robotics and Autonomous Systems, 61(10), Article 10. https://doi.org/10.1016/j.robot.2012.12.008
    15. 11.
      Lima, P., Santos, P., Oliveira, R., Ahmad, A., & Santos, J. (2011). Cooperative Localization Based on Visually Shared Objects. RoboCup 2010: Robot Soccer World Cup XIV, 350–361. https://doi.org/10.1007/978-3-642-20217-9_30
    16. 10.
      Ahmad, A., Del Bue, A., & Lima, P. (2009). Background Subtraction Based on Rank Constraint for Point  Trajectories. 1–3.
    17. 9.
      Ahmad, A., & Dhang, N. (2008). Probabilistic Roadmap Method and Real Time Gait Changing Technique Implementation for Travel Time Optimization on a Designed Six-legged Robot. 1–5.

  4. Forschungsberichte

    1. 8.
      Ahmad, A., Amigoni, F., Awaad, I., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Fontana, G., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., & Schneider, S. (2014). RoCKIn@Home in a Nutshell (Nos. FP7-ICT-601012 Revision 0.8; Nummern FP7-ICT-601012 Revision 0.8). RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics.
    2. 7.
      Ahmad, A., Amigoni, A., Awaad, I., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Fontana, G., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., Schiaffonati, V., & Schneider, S. (2014). RoCKIn@Work in a Nutshell (Nos. FP7-ICT-601012 Revision 1.2; Nummern FP7-ICT-601012 Revision 1.2). RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics.
    3. 6.
      Ahmad, A., Awaad, I., Amigoni, F., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., & Schneider, S. (2013). D2.1.4 RoCKIn@Work - Innovation in Mobile Industrial Manipulation Competition Design, Rule Book, and Scenario Construction (Nos. FP7-ICT-601012 Revision 0.7; Nummern FP7-ICT-601012 Revision 0.7). RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics.
    4. 5.
      Messias, J., Ahmad, A., Reis, J., Serafim, M., & Lima, P. (2013). SocRob-MSL 2013 Team Description Paper for Middle Sized League. 17th Annual RoboCup International Symposium 2013.
    5. 4.
      Ahmad, A., Awaad, I., Amigoni, F., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., & Schneider, S. (2013). D2.1.1 RoCKIn@Home - A Competition for Domestic Service Robots  Competition Design, Rule Book, and Scenario Construction (Nos. FP7-ICT-601012 Revision 0.7; Nummern FP7-ICT-601012 Revision 0.7). RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics.
    6. 3.
      Ahmad, A., Awaad, I., Amigoni, F., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Fontana, G., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., Schiaffonati, V., & Schneider, S. (2013). D1.1 Specification of General Features of Scenarios and Robots for Benchmarking Through Competitions (Nos. FP7-ICT-601012 Revision 1.0; Nummern FP7-ICT-601012 Revision 1.0). RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics.
    7. 2.
      Messias, J., Ahmad, A., Reis, J., Sousa, J., & Lima, P. (2011). ISocRob-MSL 2011 Team Description Paper for Middle Sized League. 15th Annual RoboCup International Symposium 2011.
    8. 1.
      Lima, P., Santos, J., Estilita, J., Barbosa, M., Ahmad, A., & Carreira, J. (2009). ISocRob-MSL 2009 Team Description Paper for Middle Sized League. 13th Annual RoboCup International Symposium 2009.
Dieses Bild zeigt Aamir Ahmad

Aamir Ahmad

Jun.-Prof. Dr.-Ing.

Stellv. Institutsleiter (Forschung)

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