Related papers: Google Map Aided Visual Navigation for UAVs in GPS…

Autonomous fixed-wing UAV landing based on differential GPS is now a mainstream providing reliable and precise landing. But the task still remains challenging when GPS availability is limited like for military UAVs. We discuss a solution of…

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…

Localization of autonomous unmanned aerial vehicles (UAVs) relies heavily on Global Navigation Satellite Systems (GNSS), which are susceptible to interference. Especially in security applications, robust localization algorithms independent…

In this paper we propose a novel approach aimed at recovering the 3D position of an UUV from UAV imagery in shallow-water environments. Through combination of UAV and UUV measurements, we show that our method can be utilized as an accurate…

A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…

In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…

In this work, we present a pragmatic approach to enable unmanned aerial vehicle (UAVs) to autonomously perform highly complicated tasks of object pick and place. This paper is largely inspired by challenge-2 of MBZIRC 2020 and is primarily…

The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant challenge in this sense is finding a reliable and…

This research paper presents a novel approach for navigating a micro UAV (Unmanned Aerial Vehicle) through narrow passages using only its onboard camera feed and a PID control system. The proposed method uses edge detection and homography…

Visual Localization is an essential component in autonomous navigation. Existing approaches are either based on the visual structure from SLAM/SfM or the geometric structure from dense mapping. To take the advantages of both, in this work,…

In this paper, we consider a position estimation problem for an unmanned aerial vehicle (UAV) equipped with both proprioceptive sensors, i.e. IMU, and exteroceptive sensors, i.e. GPS and a barometer. We propose a data-driven position…

Unmanned aerial vehicles (UAVs) are frequently used for aerial mapping and general monitoring tasks. Recent progress in deep learning enabled automated semantic segmentation of imagery to facilitate the interpretation of large-scale complex…

We propose a map-aided vehicle localization method for GPS-denied environments. This approach exploits prior knowledge of the road grade map and vehicle on-board sensor measurements to accurately estimate the longitudinal position of the…

Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…

Reliable long-range flight of unmanned aerial vehicles (UAVs) in GNSS-denied environments is challenging: integrating odometry leads to drift, loop closures are unavailable in previously unseen areas and embedded platforms provide limited…

This study presents a new methodology for learning-based motion planning for autonomous exploration using aerial robots. Through the reinforcement learning method of learning through trial and error, the action policy is derived that can…

Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…

This letter introduces a Graph-Condensed Quantum-Inspired Placement (GC-QAP) framework for reliability-driven trajectory optimization in Uncrewed Aerial Vehicle (UAV) assisted low-altitude wireless networks. The dense waypoint graph is…

We propose an image-based cross-view geolocalization method that estimates the global pose of a UAV with the aid of georeferenced satellite imagery. Our method consists of two Siamese neural networks that extract relevant features despite…

Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…