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Drones are being used in many industries for a variety of applications, including inspecting bridges, surveying farm land, and delivering cargo. Automating these kinds of scenarios requires more than following a sequence of GPS waypoints;…
Developing robust drone detection systems is often constrained by the limited availability of large-scale annotated training data and the high costs associated with real-world data collection. However, leveraging synthetic data generated…
Unmanned Aerial Vehicles (UAVs) dynamic encirclement is an emerging field with great potential. Researchers often get inspiration from biological systems, either from macro-world like fish schools or bird flocks etc, or from micro-world…
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…
There has been a rapid growth in the deployment of Unmanned Aerial Vehicles (UAVs) in various applications ranging from vital safety-of-life such as surveillance and reconnaissance at nuclear power plants to entertainment and hobby…
Autonomous systems require identifying the environment and it has a long way to go before putting it safely into practice. In autonomous driving systems, the detection of obstacles and traffic lights are of importance as well as lane…
Drones can provide a minimally-constrained adapting camera view to support robot telemanipulation. Furthermore, the drone view can be automated to reduce the burden on the operator during teleoperation. However, existing approaches do not…
Reaching fast and autonomous flight requires computationally efficient and robust algorithms. To this end, we train Guidance & Control Networks to approximate optimal control policies ranging from energy-optimal to time-optimal flight. We…
Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward research in these areas. The most commonly used solutions at…
Current motion capture (MoCap) systems generally require markers and multiple calibrated cameras, which can be used only in constrained environments. In this work we introduce a drone-based system for 3D human MoCap. The system only needs…
In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…
Drones or Unmanned Aerial Vehicles (UAVs) have become a reliable and efficient tool for road traffic monitoring. Compared to loop detectors and bluetooth receivers (with high capital and operational expenditure), drones are a low-cost…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by…
Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…
Obstacle avoidance path planning for uncrewed aerial vehicles (UAVs), or drones, is rarely addressed in most flight path planning schemes, despite obstacles being a realistic condition. Obstacle avoidance can also be energy-intensive,…
Multi-object tracking (MOT) in UAV-based video is challenging due to variations in viewpoint, low resolution, and the presence of small objects. While other research on MOT dedicated to aerial videos primarily focuses on the academic aspect…
The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…
Given the importance of forests and their role in maintaining the ecological balance, which directly affects the planet, the climate, and the life on this planet, this research presents the problem of forest fire monitoring using drones.…
In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images,…