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Sunday May 28th, 2023

Explore AMSwarm: an online and scalable planner with safety behaviors for Quadrotor Swarms in Cluttered Environments.
Join us at the Poster Session of ICRA 2023, located at Poster Hall (Entrance N11), on 30 May 2023, from 08:30 - 10:10 (Multi-Robot Systems I Pod 31-33).
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Sunday May 28th, 2023

Looking forward to presenting our recent work at ICRA 2023, London. We present a novel UWB sensor placement algorithm that balance the effects of anchor-tag geometry and the NLOS measurement biases. RA-L paper on arXiv: arxiv.org/abs/2204.04508 ... See MoreSee Less

Looking forward to presenting our recent work at ICRA 2023, London. We present a novel UWB sensor placement algorithm that balance the effects of anchor-tag geometry and the NLOS measurement biases. RA-L paper on arXiv: https://arxiv.org/abs/2204.04508
Friday May 26th, 2023

We will be presenting a poster on robotic planar pushing using force feedback at the Embracing Contacts workshop at #ICRA2023! Join us on Friday, June 2.
Paper: arxiv.org/abs/2305.11048
Workshop: sites.google.com/view/icra2023embracingcontacts/home
Angela Schoellig University of Toronto Engineering Technical University of Munich
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We will be presenting a poster on robotic planar pushing using force feedback at the Embracing Contacts workshop at #ICRA2023! Join us on Friday, June 2.
Paper: https://arxiv.org/abs/2305.11048
Workshop: https://sites.google.com/view/icra2023embracingcontacts/home
Angela Schoellig University of Toronto Engineering Technical University of Munich
Monday April 17th, 2023

We are excited to announce our lab's third accepted #ICRA2023 paper by Alan Li: Multi-View Keypoints for Reliable 6D Object Pose Estimation

In this work, we propose a novel multi-view approach to object pose estimation, leveraging known camera transformations from an eye-in-hand setup to combine heatmap and keypoint estimates into a probability density map over 3D space.

Read more here: lnkd.in/g66WfJFV
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We are excited to announce our labs third accepted #ICRA2023 paper by Alan Li: Multi-View Keypoints for Reliable 6D Object Pose Estimation

In this work, we propose a novel multi-view approach to object pose estimation, leveraging known camera transformations from an eye-in-hand setup to combine heatmap and keypoint estimates into a probability density map over 3D space.

Read more here: https://lnkd.in/g66WfJFV
Monday April 10th, 2023

Distributed approaches based on Sequential Convex Programming (SCP) have been the state-of-the-art for quadrotor swarm motion planning. However, these approaches struggle in cluttered environments due to conservative approximations made in the optimization problem, namely linearization of collision constraints and axis-wise decoupling of kinematic bounds. Such approximations are made to obtain a quadratic program (QP) at the expense of small feasible sets.

We are thrilled to announce our lab's second accepted #ICRA2023 paper! This work, led by Vivek Adajania, solves the optimization problem as a QP without relying on previously mentioned approximations, achieving superior success rate, mission time, and per-agent computation time.

arXiv: arxiv.org/pdf/2303.04856.pdf
Video: youtu.be/eIBcOKq5_Jk
... See MoreSee Less

Distributed approaches based on Sequential Convex Programming (SCP) have been the state-of-the-art for quadrotor swarm motion planning. However, these approaches struggle in cluttered environments due to conservative approximations made in the optimization problem, namely linearization of collision constraints and axis-wise decoupling of kinematic bounds. Such approximations are made to obtain a quadratic program (QP) at the expense of small feasible sets.

We are thrilled to announce our labs second accepted #ICRA2023 paper! This work, led by Vivek Adajania, solves the optimization problem as a QP without relying on previously mentioned approximations, achieving superior success rate, mission time, and per-agent computation time.

arXiv: arxiv.org/pdf/2303.04856.pdf
Video: youtu.be/eIBcOKq5_Jk
Saturday April 1st, 2023

It is often ambiguous where to install the UWB anchors when constructing an UWB TDOA-based indoor localization system in cluttered environments. Now, we have a systematical way to do this!

We are excited to announce 1 of 3 of our lab's works which has been accepted to #ICRA2023.

In the work by Wenda Zhao, the MSE performance metric is leveraged to balance the effects of anchor-tag geometry and the NLOS measurement biases, presenting a novel sensor placement algorithm. The optimized anchor placements yield signficantly enhanced performance in both 2D and 3D real-world experiments.

RA-L paper on arXiv: arxiv.org/abs/2204.04508
... See MoreSee Less

It is often ambiguous where to install the UWB anchors when constructing an UWB TDOA-based indoor localization system in cluttered environments. Now, we have a systematical way to do this!

We are excited to announce 1 of 3 of our labs works which has been accepted to #ICRA2023.

In the work by Wenda Zhao, the MSE performance metric is leveraged to balance the effects of anchor-tag geometry and the NLOS measurement biases, presenting a novel sensor placement algorithm. The optimized anchor placements yield signficantly enhanced performance in both 2D and 3D real-world experiments.

RA-L paper on arXiv: arxiv.org/abs/2204.04508
Friday November 4th, 2022

Did you hear? Our lab, led by Prof. Angela Schoellig, is hiring for a wide range of positions, including senior researchers, postdocs, PhDs, MSc/BSc theses, interns, engineers, and administrative staff.

If you're interested in joining our international team now or within the next year, fill out the following form: tiny.cc/lsy-application

To learn more about our research and projects, check out this video: www.youtube.com/watch?v=D8fYUwKUJpw

We're excited to read your applications!
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Did you hear? Our lab, led by Prof. Angela Schoellig, is hiring for a wide range of positions, including senior researchers, postdocs, PhDs, MSc/BSc theses, interns, engineers, and administrative staff.

If youre interested in joining our international team now or within the next year, fill out the following form: tiny.cc/lsy-application

To learn more about our research and projects, check out this video: www.youtube.com/watch?v=D8fYUwKUJpw

Were excited to read your applications!
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University of Toronto Institute for Aerospace Studies