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This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…
In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images,…
In recent years, consumer Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel…
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…
Quadrupedal robots have emerged as a cutting-edge platform for assisting humans, finding applications in tasks related to inspection and exploration in remote areas. Nevertheless, their floating base structure renders them susceptible to…
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive…
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…
Autonomous indoor navigation of UAVs presents numerous challenges, primarily due to the limited precision of GPS in enclosed environments. Additionally, UAVs' limited capacity to carry heavy or power-intensive sensors, such as overheight…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
This report proposes a combined optimal control and perception framework for Micro Aerial Vehicle (MAV) autonomous navigation in novel indoor enclosed environments, relying exclusively on on-board sensor data. We use privileged information…
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…
Multi-robot collision-free and deadlock-free navigation in cluttered environments with static and dynamic obstacles is a fundamental problem for many applications. We introduce MRNAV, a framework for planning and control to effectively…
Post-disaster situations pose unique navigation challenges. One of those challenges is the unstructured nature of the environment, which makes it hard to layout paths for rescue vehicles. We propose the use of Uncrewed Aerial Vehicle (UAV)…
This paper presents a vision-only autonomous flight system for small UAVs operating in controlled indoor environments. The system combines semantic segmentation with monocular depth estimation to enable obstacle avoidance, scene…
Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a…
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…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
The request for fast response and safe operation after natural and man-made disasters in urban environments has spurred the development of robotic systems designed to assist in search and rescue operations within complex rubble sites.…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…