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In image processing, it is essential to detect and track air targets, especially UAVs. In this paper, we detect the flying drone using a fisheye camera. In the field of diagnosis and classification of objects, there are always many problems…

This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also shows rapid adaptation to unknown disturbances during runtime.…

With the rapid development of green energy, the efficiency and reliability of wind turbines are key to sustainable renewable energy production. For that reason, this paper presents a novel intelligent system architecture designed for the…

Recently, the community has witnessed numerous datasets built for developing and testing state estimators. However, for some applications such as aerial transportation or search-and-rescue, the contact force or other disturbance must be…

The presence of dark matter (DM) stands as one of the most compelling indications of new physics in particle physics. Typically, the detection of wave-like DM involves quantum sensors, such as qubits or cavities. The phase of the sensors is…

In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…

Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…

Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer…

Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…

Large-scale environmental sensing with a finite number of mobile sensors is a challenging task that requires a lot of resources and time. This is especially true when features in the environment are spatiotemporally changing with unknown or…

Inertial measurement units (IMUs) increasingly function as a basic component of wearable sensor network (WSN)systems. IMU-based joint angle estimation (JAE) is a relatively typical usage of IMUs, with extensive applications. However, the…

We report wind measurements within Martian dust devils observed in plan view from the High Resolution Imaging Science Experiment (HiRISE) orbiting Mars. The central color swath of the HiRISE instrument has three separate charge-coupled…

Purpose. This paper explores the capability of smartphones as computing devices for a quadcopter, specifically in terms of the ability of drones to maintain a position known as the position hold function. Image processing can be performed…

Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…

Proprioceptive sensors on planetary rovers serve for state estimation and for understanding terrain and locomotion performance. While inertial measurement units (IMUs) are widely used to this effect, force-torque sensors are less explored…

Quadrotor unmanned aerial vehicles have a limited quantity of embedded energy. To preserve and guaranty the success of the UAV mission, we should manage energy consumption during the mission. In this study we introduce an optimization…

Previous gait phase detection as convolutional neural network (CNN) based classification task requires cumbersome manual setting of time delay or heavy overlapped sliding windows to accurately classify each phase under different test cases,…

Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…

In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…

Ocean hazardous spills and search and rescue incidents are more prevalent as maritime activities increase across all sectors of society. However, emergency response time remains a factor due to a lack of information to accurately forecast…