Related papers: Nuclear Environments Inspection with Micro Aerial …
Monitoring and patrolling large water resources is a major challenge for conservation. The problem of acquiring data of an underlying environment that usually changes within time involves a proper formulation of the information. The use of…
Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach…
Crystal damage events such as tracks and point defects have been used to record and detect radiation for a long time and recently they have been proposed as a means for dark matter detection. Color centers can be read out optically and we…
Autonomous indoor navigation of Micro Aerial Vehicles (MAVs) possesses many challenges. One main reason is that GPS has limited precision in indoor environments. The additional fact that MAVs are not able to carry heavy weight or power…
Periodical inspection and maintenance of critical infrastructure such as dams, penstocks, and locks are of significant importance to prevent catastrophic failures. Conventional manual inspection methods require inspectors to climb along a…
Physics at a multi-TeV muon collider needs a change of perspective for the detector design due to the large amount of background induced by muon beam decays. Preliminary studies, based on simulated data, on the composition and the…
This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…
This report proposes a combined optimal control and perception framework for Micro Aerial Vehicle (MAV) autonomous navigation in novel indoor enclosed environments, relying exclusively on on-board sensor data. We use privileged information…
We investigate algorithmic control of a large swarm of mobile particles (such as robots, sensors, or building material) that move in a 2D workspace using a global input signal (such as gravity or a magnetic field). We show that a maze of…
This paper presents a solution for the autonomous exploration and inspection of Ballast Water Tanks (BWTs) of marine vessels using aerial robots. Ballast tank compartments are critical for a vessel's safety and correspond to confined…
This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quadrotors providing support in electrical power line inspection operations. The proposed software framework guarantees the compliance…
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…
Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…
Efficient and reliable detection of radiological or nuclear threats is a crucial part of national and international efforts to prevent terrorist activities. Radiation Portal Monitors (RPMs), which are deployed worldwide, are intended to…
In this paper we propose a number of tested ways in which a low-budget demo car could be made to navigate an indoor environment. Canny Edge Detection, Supervised Floor Detection and Imitation Learning were used separately and are contrasted…
The resurgence of interest in nuclear power around the world highlights the importance of effective methods to safeguard against nuclear proliferation. Many powerful safeguarding techniques have been developed and are currently employed,…
The paper presents a receding horizon planning and control strategy for quadrotor-type \ac{mav}s to navigate reactively and intercept a moving target in a cluttered unknown and dynamic environment. Leveraging a lightweight short-range…
Micro Air Vehicles (MAVs) are increasingly being used for complex or hazardous tasks in enclosed and cluttered environments such as surveillance or search and rescue. With this comes the necessity for sensors that can operate in poor…
This paper introduces a low-cost experimental mockup to simulate the laser cutting process of containers in nuclear decommissioning. It is composed of a three-axis table supporting a cuboid container with ultraviolet-sensitive faces, a…
We propose a methodology for autonomous aerial navigation and obstacle avoidance of micro aerial vehicles (MAV) using nonlinear model predictive control (NMPC) and we demonstrate its effectiveness with laboratory experiments. The proposed…