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A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
Accurate and swift localization of the target is crucial in emergencies. However, accurate position data of a target mobile device, typically obtained from global navigation satellite systems (GNSS), cellular networks, or WiFi, may not…
A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
With the advantage of high mobility, Unmanned Aerial Vehicles (UAVs) are used to fuel numerous important applications in computer vision, delivering more efficiency and convenience than surveillance cameras with fixed camera angle, scale…
Recent advances in cross-view geo-localization (CVGL) methods have shown strong potential for supporting unmanned aerial vehicle (UAV) navigation in GNSS-denied environments. However, existing work predominantly focuses on matching UAV…
Traditional localization algorithms based on features such as time difference of arrival are impaired by non-line of sight propagation, which negatively affects the consistency that they expect among distance estimates. Instead,…
This study presents a real-time guidance strategy for an unmanned aerial vehicles (UAVs) that can be used to enhance their flight endurance by utilizing {\sl insitu} measurements of wind speeds and wind gradients. In these strategies,…
With explosively increasing demands for unmanned aerial vehicle (UAV) applications, reliable link acquisition for serving UAVs is required. Considering the dynamic characteristics of UAV, it is hugely challenging to persist a reliable link…
In this paper, we consider a scenario where an unmanned aerial vehicle (UAV) collects data from a set of sensors on a straight line. The UAV can either cruise or hover while communicating with the sensors. The objective is to minimize the…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
Autonomous maritime surveillance and target vessel identification in environments where Global Navigation Satellite Systems (GNSS) are not available is critical for a number of applications such as search and rescue and threat detection.…
Unmanned systems (USs) including unmanned aerial vehicles, unmanned underwater vehicles, and unmanned ground vehicles have great application prospects in military and civil fields, among which the process of finding feasible and optimal…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
Autonomous aerial target tracking in unstructured and GPS-denied environments remains a fundamental challenge in robotics. Many existing methods rely on motion capture systems, pre-mapped scenes, or feature-based localization to ensure…
It is expected that unmanned aerial vehicles (UAVs) will play a vital role in future communication systems. Optimum positioning of UAVs, serving as base stations, can be done through extensive field measurements or ray tracing simulations…
This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest.…
Integrated sensing and communications (ISAC) enabled by unmanned aerial vehicles (UAVs) is a promising technology to facilitate target tracking applications. In contrast to conventional UAV-based ISAC system designs that mainly focus on…
Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with an increasing demand for aerial data. Accurate navigation and localization, required for precise data collection in many industrial applications, often relies on RTK GNSS.…
This work considers the problem of passively monitoring multiple moving targets with a single unmanned aerial vehicle (UAV) agent equipped with a direction-finding radar. This is in general a challenging problem due to the unobservability…