Related papers: Effective Target Aware Visual Navigation for UAVs
We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…
The visibility of targets determines performance and even success rate of various applications, such as active slam, exploration, and target tracking. Therefore, it is crucial to take the visibility of targets into explicit account in…
Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…
The paper discusses an intelligent vision-based control solution for autonomous tracking and landing of Vertical Take-Off and Landing (VTOL) capable Unmanned Aerial Vehicles (UAVs) on ships without utilizing GPS signal. The central idea…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
Vision-based target tracking is crucial for unmanned surface vehicles (USVs) to perform tasks such as inspection, monitoring, and surveillance. However, real-time tracking in complex maritime environments is challenging due to dynamic…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
This paper presents a visual tracking system that is capable or running real time on-board a small UAV (Unmanned Aerial Vehicle). The tracking system is computationally efficient and invariant to lighting changes and rotation of the object…
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing…
In this paper, we investigate joint resource allocation and trajectory design for multi-user multi-target unmanned aerial vehicle (UAV)-enabled integrated sensing and communication (ISAC). To improve sensing accuracy, the UAV is forced to…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
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…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
Autonomous Micro Aerial Vehicles are deployed for a variety tasks including surveillance and monitoring. Perching and staring allow the vehicle to monitor targets without flying, saving battery power and increasing the overall mission time…
Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…
This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…
This work considers the problem of passively monitoring multiple moving targets with a single unmanned aerial vehicle (UAV) agent equipped with a direction-finding radar. This is in general a challenging problem due to the unobservability…
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…
In this paper, we study the trajectory optimization of a cellular-connected unmanned aerial vehicle (UAV) which aims to sense the location of a target while maintaining satisfactory communication quality with the ground base stations…
Transformer-based models have improved visual tracking, but most still cannot run in real time on resource-limited devices, especially for unmanned aerial vehicle (UAV) tracking. To achieve a better balance between performance and…