Related papers: Autonomous quadrotor obstacle avoidance based on d…
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…
This paper presents our method for enabling a UAV quadrotor, equipped with a monocular camera, to autonomously avoid collisions with obstacles in unstructured and unknown indoor environments. When compared to obstacle avoidance in ground…
Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains…
In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact,…
We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…
Cameras provide a rich source of information while being passive, cheap and lightweight for small and medium Unmanned Aerial Vehicles (UAVs). In this work we present the first implementation of receding horizon control, which is widely used…
This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…
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…
A collision avoidance system based on simple digital cameras would help enable the safe integration of small UAVs into crowded, low-altitude environments. In this work, we present an obstacle avoidance system for small UAVs that uses a…
As the market for commercially available unmanned aerial vehicles (UAVs) booms, there is an increasing number of small, teleoperated or autonomous aircraft found in protected or sensitive airspace. Existing solutions for removal of these…
Obstacle avoidance is a fundamental requirement for autonomous robots which operate in, and interact with, the real world. When perception is limited to monocular vision avoiding collision becomes significantly more challenging due to the…
Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this information to navigate and avoid obstacles, allowing them to…
In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images,…
We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…
Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free racetracks, while the perception and dynamic challenges…
Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…
Dynamic obstacle avoidance on quadrotors requires low latency. A class of sensors that are particularly suitable for such scenarios are event cameras. In this paper, we present a deep learning -- based solution for dodging multiple dynamic…
A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a disturbance-aware motion planning and control framework…
Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink…
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…