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Obstacle avoidance path planning for uncrewed aerial vehicles (UAVs), or drones, is rarely addressed in most flight path planning schemes, despite obstacles being a realistic condition. Obstacle avoidance can also be energy-intensive,…
Event cameras provide high-temporal-resolution visual sensing that is well suited for observing fast-moving aerial objects; however, their use for drone trajectory prediction remains limited. This work introduces an event-only drone…
Autonomous drone racing represents a major frontier in robotics research. It requires an Artificial Intelligence (AI) that can run on board light-weight flying robots under tight resource and time constraints, while pushing the physical…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
In autonomous and mobile robotics, one of the main challenges is the robust on-the-fly perception of the environment, which is often unknown and dynamic, like in autonomous drone racing. In this work, we propose a novel deep neural…
The development of safe and reliable autonomous unmanned aerial vehicles relies on the ability of the system to recognise and adapt to changes in the local environment based on sensor inputs. State-of-the-art local tracking and trajectory…
The use of delivery services is an increasing trend worldwide, further enhanced by the COVID pandemic. In this context, drone delivery systems are of great interest as they may allow for faster and cheaper deliveries. This paper presents a…
Nano-size drones hold enormous potential to explore unknown and complex environments. Their small size makes them agile and safe for operation close to humans and allows them to navigate through narrow spaces. However, their tiny size and…
This paper presents the OmniRace approach to controlling a racing drone with 6-degree of freedom (DoF) hand pose estimation and gesture recognition. To our knowledge, it is the first-ever technology that allows for low-level control of…
Small drones are an increasing threat to both military personnel and civilian infrastructure, making early and automated detection crucial. In this work we develop a system that uses spiking neural networks and neuromorphic cameras (event…
A vision-based drone-to-drone detection system is crucial for various applications like collision avoidance, countering hostile drones, and search-and-rescue operations. However, detecting drones presents unique challenges, including small…
Lightweight aerial swarms have potential applications in scenarios where larger drones fail to operate efficiently. The primary foundation for lightweight aerial swarms is efficient relative localization, which enables cooperation and…
To navigate in an environment safely and autonomously, robots must accurately estimate where obstacles are and how they move. Instead of using expensive traditional 3D sensors, we explore the use of a much cheaper, faster, and higher…
Autonomous drone racing is a challenging research problem at the intersection of computer vision, planning, state estimation, and control. We introduce AirSim Drone Racing Lab, a simulation framework for enabling fast prototyping of…
After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…
Autonomous drone racing in complex environments requires agile, high-speed flight while maintaining reliable obstacle avoidance. Differentiable-physics-based policy learning has recently demonstrated high sample efficiency and remarkable…
The increasing demand for fast and cost effective last mile delivery solutions has catalyzed significant advancements in drone based logistics. This research describes the development of an AI integrated drone delivery system, focusing on…
Autonomous Nano Aerial Vehicles have been increasingly popular in surveillance and monitoring operations due to their efficiency and maneuverability. Once a target location has been reached, drones do not have to remain active during the…
Vision-based drone-to-drone detection has attracted increasing attention due to its importance in numerous tasks such as vision-based swarming, aerial see-and-avoid, and malicious drone detection. However, existing methods often encounter…
Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…