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We present a micro aerial vehicle (MAV) system, built with inexpensive off-the-shelf hardware, for autonomously following trails in unstructured, outdoor environments such as forests. The system introduces a deep neural network (DNN) called…
Micro Air Vehicles (MAVs) are increasingly being used for complex or hazardous tasks in enclosed and cluttered environments such as surveillance or search and rescue. With this comes the necessity for sensors that can operate in poor…
An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable…
MAV-capturing-MAV (MCM) is one of the few effective methods for physically countering misused or malicious MAVs.This paper presents a vision-based cooperative MCM system, where multiple pursuer MAVs equipped with onboard vision systems…
Micro aerial vehicles (MAVs) have high potential for information gathering tasks to support situation awareness in search and rescue scenarios. Manually controlling MAVs in such scenarios requires experienced pilots and is error-prone,…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
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…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
In recent years, there has been a growing interest in the visual detection of micro aerial vehicles (MAVs) due to its importance in numerous applications. However, the existing methods based on either appearance or motion features encounter…
The use of commercial Micro Aerial Vehicles (MAVs) has surged in the past decade, offering societal benefits but also raising risks such as airspace violations and privacy concerns. Due to the increased security risks, the development of…
Unmanned aerial vehicles (UAVs) have attracted significant interest from the academia and industry most recently. Motivated by the wide usage of UAVs, this paper considers UAV communication with reconfigurable antenna (RA) in the presence…
We present an error tolerant path planning algorithm for Micro Aerial Vehicle (MAV) swarms. We assume navigation without GPS-like techniques. The MAVs find their path using sensors and cameras, identifying and following a series of visual…
We propose a methodology for autonomous aerial navigation and obstacle avoidance of micro aerial vehicles (MAV) using nonlinear model predictive control (NMPC) and we demonstrate its effectiveness with laboratory experiments. The proposed…
An autonomous indoor aerial vehicle requires reliable simul- taneous localization and mapping (SLAM), accurate flight control, and robust path planning for navigation. This paper presents a system level combination of these existing…
Micro aerial vehicles (MAVs) hold the potential for performing autonomous and contactless land surveys for the detection of landmines and explosive remnants of war (ERW). Metal detectors are the standard detection tool but must be operated…
In this paper, we propose a vision-based solution for indoor Micro Air Vehicle (MAV) navigation, with a primary focus on its application within autonomous warehouses. Our work centers on the utilization of a single camera as the primary…
Autonomous navigation for large Unmanned Aerial Vehicles (UAVs) is fairly straight-forward, as expensive sensors and monitoring devices can be employed. In contrast, obstacle avoidance remains a challenging task for Micro Aerial Vehicles…