Related papers: Simultaneous drone localisation and wind turbine m…
An initial study of surrogate-assisted evolutionary algorithms used to design vertical-axis wind turbines wherein candidate prototypes are evaluated under fan generated wind conditions after being physically instantiated by a 3D printer has…
Drone swarms coupled with data intelligence can be the future of wildfire fighting. However, drone swarm firefighting faces enormous challenges, such as the highly complex environmental conditions in wildfire scenes, the highly dynamic…
This paper proposes a new image-based localization framework that explicitly localizes the camera/robot by fusing Convolutional Neural Network (CNN) and sequential images' geometric constraints. The camera is localized using a single or few…
Self-localization on a 3D map by using an inexpensive monocular camera is required to realize autonomous driving. Self-localization based on a camera often uses a convolutional neural network (CNN) that can extract local features that are…
We present TerraPN, a novel method that learns the surface properties (traction, bumpiness, deformability, etc.) of complex outdoor terrains directly from robot-terrain interactions through self-supervised learning, and uses it for…
We propose a method, a model, and a form of presenting model results for condition monitoring of a small set of wind turbines with rare failures. The main new ingredient of the method is to sample failure thresholds according to the profit…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Wind energy is expected to be one of the leading ways to achieve the goals of the Paris Agreement but it in turn heavily depends on effective management of its operations and maintenance (O&M) costs. Blade failures account for one-third of…
This study presents a real-time guidance strategy for an unmanned aerial vehicles (UAVs) that can be used to enhance their flight endurance by utilizing {\sl insitu} measurements of wind speeds and wind gradients. In these strategies,…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
A didactic multiscale approach for drone modeling is proposed. Specifically, we investigate the drone structure at both macroscopic and microscopic scales, by making use of finite element and atomistic simulations, respectively. The…
In this work we consider UAVs as cooperative agents supporting human users in their operations. In this context, the 3D localisation of the UAV assistant is an important task that can facilitate the exchange of spatial information between…
Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…
The visual inspection of aerial drone footage is an integral part of land search and rescue (SAR) operations today. Since this inspection is a slow, tedious and error-prone job for humans, we propose a novel deep learning algorithm to…
Drones in many applications need the ability to fly fully or partially autonomously to accomplish their mission. To allow these fully/partially autonomous flights, first, the drone needs to be able to locate itself constantly. Then the…
The reduced cost and computational and calibration requirements of monocular cameras make them ideal positioning sensors for mobile robots, albeit at the expense of any meaningful depth measurement. Solutions proposed by some scholars to…
Modern automated driving solutions utilize trajectory planning and control components with numerous parameters that need to be tuned for different driving situations and vehicle types to achieve optimal performance. This paper proposes a…
As Urban air mobility scales, commercial drone fleets offer a compelling, yet underexplored opportunity to function as mobile sensor networks for real-time urban traffic monitoring. In this paper, we propose a decentralized framework that…
Co-Registration of aerial imagery and Light Detection and Ranging (LiDAR) data is quilt challenging because the different imaging mechanism causes significant geometric and radiometric distortions between such data. To tackle the problem,…
We propose a single-shot method for simultaneous 3D object segmentation and 6-DOF pose estimation in pure 3D point clouds scenes based on a consensus that \emph{one point only belongs to one object}, i.e., each point has the potential power…