Related papers: Fast and Agile Vision-Based Flight with Teleoperat…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…
In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
Autonomous flight of micro air vehicles (MAVs) in unknown, cluttered environments remains challenging for time-critical missions due to conservative maneuvering strategies. This article presents an integrated planning and control framework…
This work presents an integrated control and software architecture that enables arguably the first fully autonomous, contact-based non-destructive testing (NDT) using a commercial multirotor originally restricted to remotely-piloted…
State estimation and control is a well-studied problem in conventional aerial vehicles such as multi-rotors. But multi-rotors, while versatile, are not suitable for all applications. Due to turbulent airflow from ground effects,…
Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, need to be addressed before deploying these vehicles on the…
Recent applications of unmanned aerial systems (UAS) to precision agriculture have shown increased ease and efficiency in data collection at precise remote locations. However, further enhancement of the field requires operation over long…
As a kind of fully actuated system, omnidirectional multirotor aerial vehicles (OMAVs) has more flexible maneuverability than traditional underactuated multirotor aircraft, and it also has more significant advantages in obstacle avoidance…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
To participate in the Outback Medical Express UAV Challenge 2016, a vehicle was designed and tested that can hover precisely, take-off and land vertically, fly fast forward efficiently and use computer vision to locate a person and a…
As fully-actuated systems, omnidirectional multirotor aerial vehicles (OMAVs) have more flexible maneuverability and advantages in aggressive flight in cluttered environments than traditional underactuated MAVs. %Due to the high…
We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous…
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…
Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL)…