Related papers: Flight Dynamics-based Recovery of a UAV Trajectory…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
Nighttime UAV tracking presents significant challenges due to extreme illumination variations and viewpoint changes, which severely degrade tracking performance. Existing approaches either rely on light enhancers with high computational…
In this work, we propose a dynamic landing solution without the need for onboard exteroceptive sensors and an expensive computation unit, where all localization and control modules are carried out on the ground in a non-inertial frame. Our…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
To track the 3D locations and trajectories of the other traffic participants at any given time, modern autonomous vehicles are equipped with multiple cameras that cover the vehicle's full surroundings. Yet, camera-based 3D object tracking…
In this study a model pipeline is proposed that combines computer vision with control-theoretic methods and utilizes low cost sensors. The proposed work enables perception-aware motion control for a quadrotor UAV to detect and navigate to…
The realization of motion description is a challenging work for fixed-wing Unmanned Aerial Vehicle (UAV) acrobatic flight, due to the inherent coupling problem in ranslational-rotational motion. This paper aims to develop a novel maneuver…
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…
Recent advances in 4D scene reconstruction have significantly improved dynamic modeling across various domains. However, existing approaches remain limited under aerial conditions with single-view capture, wide spatial range, and dynamic…
Drones are enabling new forms of cinematography. However, quadrotor cinematography requires accurate comprehension of the scene, technical skill of flying, artistic skill of composition and simultaneous realization of all the requirements…
This study seeks to automate camera movement control for filming existing subjects into attractive videos, contrasting with the creation of non-existent content by directly generating the pixels. We select drone videos as our test case due…
In this paper, we introduce an innovative approach for extracting trajectories from a camera sensor in GPS-denied environments, leveraging visual odometry. The system takes video footage captured by a forward-facing camera mounted on a…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the…
Capturing and reconstructing a human actor's motion is important for filmmaking and gaming. Currently, motion capture systems with static cameras are used for pixel-level high-fidelity reconstructions. Such setups are costly, require…
Advances in Unmanned Aerial Vehicle (UAV) opens venues for application such as tunnel inspection. Owing to its versatility to fly inside the tunnels, it can quickly identify defects and potential problems related to safety. However, long…
Rooftop 3D reconstruction using UAV-based photogrammetry offers a promising solution for infrastructure assessment, but existing methods often require high percentages of image overlap and extended flight times to ensure model accuracy when…
Search and rescue missions and surveillance require finding targets in a large area. These tasks often use unmanned aerial vehicles (UAVs) with cameras to detect and move towards a target. However, common UAV approaches make two simplifying…
To meet the requirements for managing unauthorized UAVs in the low-altitude economy, a multi-modal UAV trajectory prediction method based on the fusion of LiDAR and millimeter-wave radar information is proposed. A deep fusion network for…
This research addresses the challenge of executing multi-UAV survey missions over diverse terrains characterized by varying elevations. The approach integrates advanced two-dimensional ergodic search technique with model predictive control…