Related papers: An integrated localization-navigation scheme for d…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…
Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a…
Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision inertial navigation systems (INS) for geolocalization. In…
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…
This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
Recent advances in satellite and communication technologies have significantly improved geographical information and monitoring systems. Global System for Mobile Communications (GSM) and Global Navigation Satellite System (GNSS)…
Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…
Cooperative Unmanned Aerial Systems (UASs) in GPS-denied environments demand an accurate pose-localization system to ensure efficient operation. In this paper we present a novel visual relative localization system capable of monitoring a…
In modern battlefield scenarios, the reliance on GPS for navigation can be a critical vulnerability. Adversaries often employ tactics to deny or deceive GPS signals, necessitating alternative methods for the localization and navigation of…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…
The localization of Unmanned aerial vehicles (UAVs) in deep tunnels is extremely challenging due to their inaccessibility and hazardous environment. Conventional outdoor localization techniques (such as using GPS) and indoor localization…
As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…
Nano-sized unmanned aerial vehicles (UAVs) are well-fit for indoor applications and for close proximity to humans. To enable autonomy, the nano-UAV must be able to self-localize in its operating environment. This is a…
We propose and demonstrate a fast, robust method for using satellite images to localize an Unmanned Aerial Vehicle (UAV). Previous work using satellite images has large storage and computation costs and is unable to run in real time. In…
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…
We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…
Autonomous landing of Unmanned Aerial Vehicles (UAVs) in crowded scenarios is crucial for successful deployment of UAVs in populated areas, particularly in emergency landing situations where the highest priority is to avoid hurting people.…
This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellite System (GNSS)-denied environments. The goal is to enable…