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Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
The localization of Unmanned aerial vehicles (UAVs) in deep tunnels is extremely challenging due to their inaccessibility and hazardous environment. Conventional outdoor localization techniques (such as using GPS) and indoor localization…
Cooperative path planning is gaining its importance due to the increasing demand on using multiple unmanned aerial vehicles (UAVs) for complex missions. This work addresses the problem by introducing a new algorithm named MultiRRT that…
Unmanned Aerial Vehicles (drones) are emerging as a promising technology for both environmental and infrastructure monitoring, with broad use in a plethora of applications. Many such applications require the use of computer vision…
Over the past two decades, Unmanned Aerial Vehicles (UAVs), more commonly known as drones, have gained a lot of attention, and are rapidly becoming ubiquitous because of their diverse applications such as surveillance, disaster management,…
Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
In this paper we address the problem of dot painting on a wall by a quadrotor Micro Air Vehicle (MAV), using on-board low cost sensors (monocular camera and IMU) for localization. A method is proposed to cope with uncertainties on the…
This paper discusses the conceptual design and proof-of-concept flight demonstration of a novel variable pitch quadrotor biplane Unmanned Aerial Vehicle concept for payload delivery. The proposed design combines vertical takeoff and landing…
Autonomous navigation in unknown complex environment is still a hard problem, especially for small Unmanned Aerial Vehicles (UAVs) with limited computation resources. In this paper, a neural network-based reactive controller is proposed for…
Drones or UAVs, equipped with different sensors, have been deployed in many places especially for urban traffic monitoring or last-mile delivery. It provides the ability to control the different aspects of traffic given real-time…
Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…
Reliable midair docking between small unmanned aerial vehicles (UAVs) is essential for modular aerial cooperation and manipulation, but it requires precise relative-pose control and repeatable platform under tight thrust and payload…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
Unmanned aerial vehicles (UAVs) are emerging as key enablers for low-altitude wireless network (LAWN), particularly when terrestrial networks are unavailable. In such scenarios, the environmental topology is typically unknown; hence,…
If autonomous vehicles are to be widely accepted, we need to ensure their safe operation. For this reason, verification and validation (V&V) approaches must be developed that are suitable for this domain. Model checking is a formal…
Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…
The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…
Runway and taxiway pavements are exposed to high stress during their projected lifetime, which inevitably leads to a decrease in their condition over time. To make sure airport pavement condition ensure uninterrupted and resilient…
Safe autonomous landing for Unmanned Aerial Vehicles (UAVs) in populated areas is a crucial aspect for successful urban deployment, particularly in emergency landing situations. Nonetheless, validating autonomous landing in real scenarios…