Related papers: GPS-Denied Relative Motion Estimation For Fixed-Wi…
Homography estimation between multiple aerial images can provide relative pose estimation for collaborative autonomous exploration and monitoring. The usage on a robotic system requires a fast and robust homography estimation algorithm. In…
The collaboration of unmanned aerial vehicles (UAVs) has become a popular research topic for its practicability in multiple scenarios. The collaboration of multiple UAVs, which is also known as aerial swarm is a highly complex system, which…
This article proposes a method to diminish the pose (position plus attitude) drift experienced by an SVO (Semi-Direct Visual Odometry) based visual navigation system installed onboard a UAV (Unmanned Air Vehicle) by supplementing its pose…
This paper proposes a control algorithm for a UAV to circumnavigate an unknown target at a fixed radius when the location information of the UAV is unavailable. By assuming that the UAV has a constant velocity, the control algorithm makes…
This paper proposes a globally and exponentially convergent predictive observer for attitude and position estimation based on landmark measurements and velocity (angular and linear) readings. It is assumed that landmark measurements are…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…
To date, there are little reliable data on the position, velocity and acceleration characteristics of Unidentified Aerial Phenomena (UAP). The dual hardware and software system described in this document provides a means to address this…
With the expanding application scope of unmanned aerial vehicles (UAVs), the demand for stable UAV control has significantly increased. However, in complex environments, GPS signals are prone to interference, resulting in ineffective UAV…
This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…
Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…
We present a novel control strategy for a team of unmanned aerial vehicles (UAVs) to autonomously achieve a desired formation using only visual feedback provided by the UAV's onboard cameras. This effectively eliminates the need for global…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
This paper addresses the problem of estimating air velocity and full attitude for unmanned aerial vehicles (UAVs) in GNSS-denied environments using minimal onboard sensing-an interesting and practically relevant challenge for UAV…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
Accurate real-time wind vector estimation is essential for enhancing the safety, navigation accuracy, and energy efficiency of unmanned aerial vehicles (UAVs). Traditional approaches rely on external sensors or simplify vehicle dynamics,…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…
In this paper, we present an autonomous unmanned aerial vehicle (UAV) landing system based on visual navigation. We design the landmark as a topological pattern in order to enable the UAV to distinguish the landmark from the environment…
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…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…