Related papers: Submodular Trajectory Optimization for Aerial 3D S…

Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…

Quadrotor drones equipped with high quality cameras have rapidely raised as novel, cheap and stable devices for filmmakers. While professional drone pilots can create aesthetically pleasing videos in short time, the smooth -- and…

We address multi-modal trajectory forecasting of agents in unknown scenes by formulating it as a planning problem. We present an approach consisting of three models; a goal prediction model to identify potential goals of the agent, an…

We present a method to reconstruct the 3D trajectory of an airborne robotic system only from videos recorded with cameras that are unsynchronized, may feature rolling shutter distortion, and whose viewpoints are unknown. Our approach…

This work investigates an efficient trajectory generation for chasing a dynamic target, which incorporates the detectability objective. The proposed method actively guides the motion of a cinematographer drone so that the color of a target…

Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…

Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…

We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…

This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…

Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…

We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to…

Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…

Autonomous UAV path planning for 3D reconstruction has been actively studied in various applications for high-quality 3D models. However, most existing works have adopted explore-then-exploit, prior-based or exploration-based strategies,…

We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…

Generating trajectories for synthetic aperture radar (SAR)-equipped aircraft poses significant challenges due to terrain constraints, and the need for straight-flight segments to ensure high-quality imaging. Related works usually focus on…

Aerial cinematography is revolutionizing industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely piloting a drone while filming a moving target in the presence of obstacles is…

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…

An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…

Autonomous aerial cinematography has the potential to enable automatic capture of aesthetically pleasing videos without requiring human intervention, empowering individuals with the capability of high-end film studios. Current approaches…

In this paper, we present a workflow for the simulation of drone operations exploiting realistic background environments constructed within Unreal Engine 4 (UE4). Methods for environmental image capture, 3D reconstruction (photogrammetry)…