Related papers: Simultaneous drone localisation and wind turbine m…
We present a novel method of integrating image-based measurements into a drone navigation system for the automated inspection of wind turbines. We take a model-based tracking approach, where a 3D skeleton representation of the turbine is…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
Wind power is a clean and widely deployed alternative to reducing our dependence on fossil fuel power generation. Under this trend, more turbines will be installed in wind farms. However, the inspection of the turbines in an offshore wind…
We present a novel optimization algorithm called DroNeRF for the autonomous positioning of monocular camera drones around an object for real-time 3D reconstruction using only a few images. Neural Radiance Fields or NeRF, is a novel view…
The research presents an automated method for determining the trajectory of an unmanned aerial vehicle (UAV) for wind turbine inspection. The proposed method enables efficient data collection from multiple wind installations using UAV…
This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspection. The approach generates safe, feasible flight paths…
It has been shown that learning radiance fields with depth rendering and depth supervision can effectively promote the quality and convergence of view synthesis. However, this paradigm requires input RGB-D sequences to be synchronized,…
This study demonstrates a method to locate an ideal perch location on a tree for vision-guided autonomous tree-perching drones. Various image processing algorithms, including those used for machine learning, image segmentation and binary…
Aiding the ground cellular network with aerial base stations carried by drones has experienced an intensive raise of interest in the past years. Reconfigurable air-to-ground channels enable aerial stations to enhance users access links by…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…
Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…
Automated visual inspection of on-and offshore wind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the ground, reduced inspection…
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…
In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…
Successful development of wind farms relies on the optimal siting of wind turbines to maximize the power capacity under stochastic wind conditions and wake losses caused by neighboring turbines. This paper presents a novel method to quickly…
This paper explores the potential of 5G new radio (NR) Time-of-Arrival (TOA) data for indoor drone localization under different scenarios and conditions when fused with inertial measurement unit (IMU) data. Our approach involves performing…
This paper presents a method for simultaneous optimization of the outer shape and internal topology of aircraft wings, with the objective of minimizing drag subject to lift and compliance constraints for multiple load cases. The physics are…
Navigating unmanned aerial vehicles in environments where GPS signals are unavailable poses a compelling and intricate challenge. This challenge is further heightened when dealing with Nano Aerial Vehicles (NAVs) due to their compact size,…
This paper presents an advanced mapping system that combines drone imagery with machine learning and computer vision to overcome challenges in speed, accuracy, and adaptability across diverse terrains. By automating processes like feature…