Related papers: Simultaneous drone localisation and wind turbine m…
Motivated by the idea of turbomachinery active subspace performance maps, this paper studies dimension reduction in turbomachinery 3D CFD simulations. First, we show that these subspaces exist across different blades---under the same…
In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where victims might be present. These missions are difficult and…
This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…
Recent innovations in autonomous drones have facilitated time-optimal flight in single-drone configurations, and enhanced maneuverability in multi-drone systems by applying optimal control and learning-based methods. However, few studies…
Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…
Drones can inspect overhead power lines while they remain energized, significantly simplifying the inspection process. However, localizing a drone relative to all conductors using an onboard LiDAR sensor presents several challenges: (1)…
Most existing trackers based on discriminative correlation filters (DCF) try to introduce predefined regularization term to improve the learning of target objects, e.g., by suppressing background learning or by restricting change rate of…
Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…
Wind farms are a crucial driver toward the generation of ecological and renewable energy. Due to their rapid increase in capacity, contemporary wind farms need to adhere to strict constraints on power output to ensure stability of the…
This paper proposes a comprehensive strategy for complex multi-target-multi-drone encirclement in an obstacle-rich and GPS-denied environment, motivated by practical scenarios such as pursuing vehicles or humans in urban canyons. The drones…
Tracking and measuring targets using a variety of sensors mounted on UAVs is an effective means to quickly and accurately locate the target. This paper proposes a fusion localization method based on ridge estimation, combining the…
Engine failure is a recurring emergency in General Aviation and fixed-wing UAVs, often requiring the pilot or remote operator to carry out carefully planned glides to safely reach a candidate landing strip. We tackle the problem of…
An optimization method is proposed in this paper for novel deployment of given number of directional landmarks (location and pose) within a given region in the 3-D task space. This new deployment technique is built on the geometric models…
We propose a novel method for aerial visual localization over low Level-of-Detail (LoD) city models. Previous wireframe-alignment-based method LoD-Loc has shown promising localization results leveraging LoD models. However, LoD-Loc mainly…
Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…
We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes. Such unified scene exploration under…
This paper presents a novel framework to accelerate route prediction in Drone-as-a-Service operations through weather-aware deep learning models. While classical path-planning algorithms, such as A* and Dijkstra, provide optimal solutions,…
A unique approach for the mid-air autonomous aerial interception of non-cooperating UAV by a flying robot equipped with a net is presented in this paper. A novel interception guidance method dubbed EPN is proposed, designed to catch agile…
We propose TRADE for robust tracking and 3D localization of a moving target in cluttered environments, from UAVs equipped with a single camera. Ultimately TRADE enables 3d-aware target following. Tracking-by-detection approaches are…
Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…