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Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown great advantages over preceding methods in support of urgent scenarios such as search and rescue (SAR) and wildfire detection. In these operations, search efficiency…
The use of semi-autonomous Unmanned Aerial Vehicles (UAV) to support emergency response scenarios, such as fire surveillance and search and rescue, offers the potential for huge societal benefits. However, designing an effective solution in…
This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…
In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…
This paper presents a new framework to use images as the inputs for the controller to have autonomous flight, considering the noisy indoor environment and uncertainties. A new Proportional-Integral-Derivative-Accelerated (PIDA) control with…
Advances in artificial intelligence (AI) including large language models (LLMs) and hybrid reasoning models present an opportunity to reimagine how autonomous robots such as drones are designed, developed, and validated. Here, we…
This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…
An ever increasing number of applications can employ aerial unmanned vehicles, or so-called drones, to perform different sensing and possibly also actuation tasks from the air. In some cases, the data that is captured at a given point has…
Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…
Drones have become increasingly popular in a variety of fields, including agriculture, emergency response, and package delivery. However, most drone operations are currently limited to within Visual Line of Sight (vlos) due to safety…
For the problem of delivering a package from a source node to a destination node in a graph using a set of drones, we study the setting where the movements of each drone are restricted to a certain subgraph of the given graph. We consider…
Low-cost mini-drones with advanced sensing and maneuverability enable a new class of intelligent sensing systems. To achieve the full potential of such drones, it is necessary to develop new enhanced formulations of both common and emerging…
Adaptive teaming-the capability of agents to effectively collaborate with unfamiliar teammates without prior coordination-is widely explored in virtual video games but overlooked in real-world multi-robot contexts. Yet, such adaptive…
In this work, we present a system that enables delivery drones to autonomously navigate and deliver packages at various locations around a house according to the desire of the recipient and without the need for any external markers as…
Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…
Drone racing is becoming a popular sport where human pilots have to control their drones to fly at high speed through complex environments and pass a number of gates in a pre-defined sequence. In this paper, we develop an autonomous system…
This paper presents a novel system for autonomous, vision-based drone racing combining learned data abstraction, nonlinear filtering, and time-optimal trajectory planning. The system has successfully been deployed at the first autonomous…
Autonomous drone racing has risen as a challenging robotic benchmark for testing the limits of learning, perception, planning, and control. Expert human pilots are able to fly a drone through a race track by mapping pixels from a single…
The rapid advancement of drone technology has significantly impacted various sectors, including search and rescue, environmental surveillance, and industrial inspection. Multidrone systems offer notable advantages such as enhanced…