Related papers: Autonomous drone race: A computationally efficient…
This paper presents a vision-only autonomous flight system for small UAVs operating in controlled indoor environments. The system combines semantic segmentation with monocular depth estimation to enable obstacle avoidance, scene…
This paper presents a system for the execution of autonomous cinematography missions with a team of drones. The system allows media directors to design missions involving different types of shots with one or multiple cameras, running…
Autonomous drone racing in complex environments requires agile, high-speed flight while maintaining reliable obstacle avoidance. Differentiable-physics-based policy learning has recently demonstrated high sample efficiency and remarkable…
This paper presents a data-driven approach to learning vision-based collective behavior from a simple flocking algorithm. We simulate a swarm of quadrotor drones and formulate the controller as a regression problem in which we generate 3D…
With the autonomy of aerial robots advances in recent years, autonomous drone racing has drawn increasing attention. In a professional pilot competition, a skilled operator always controls the drone to agilely avoid obstacles in aggressive…
Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
Terrain awareness is an essential milestone to enable truly autonomous off-road navigation. Accurately predicting terrain characteristics allows optimizing a vehicle's path against potential hazards. Recent methods use deep neural networks…
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…
In many scenarios, unmanned aerial vehicles (UAVs), aka drones, need to have the capability of autonomous flying to carry out their mission successfully. In order to allow these autonomous flights, drones need to know their location…
Drones are enabling new forms of cinematography. However, quadrotor cinematography requires accurate comprehension of the scene, technical skill of flying, artistic skill of composition and simultaneous realization of all the requirements…
The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…
Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…
This paper proposes Drone Squadron Optimization, a new self-adaptive metaheuristic for global numerical optimization which is updated online by a hyper-heuristic. DSO is an artifact-inspired technique, as opposed to many algorithms used…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
Autonomous drone racing is becoming an excellent platform to challenge quadrotors' autonomy techniques including planning, navigation and control technologies. However, most research on this topic mainly focuses on single drone scenarios.…
This report describes our approach to design and evaluate a software stack for a race car capable of achieving competitive driving performance in the different disciplines of the Formula Student Driverless. By using a 360{\deg} LiDAR and…
Drone detection is a challenging object detection task where visibility conditions and quality of the images may be unfavorable, and detections might become difficult due to complex backgrounds, small visible objects, and hard to…
Fast flights with aggressive maneuvers in cluttered GNSS-denied environments require fast, reliable, and accurate UAV state estimation. In this paper, we present an approach for onboard state estimation of a high-speed UAV using a monocular…