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It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the…
Current motion capture (MoCap) systems generally require markers and multiple calibrated cameras, which can be used only in constrained environments. In this work we introduce a drone-based system for 3D human MoCap. The system only needs…
Drone racing is a recreational sport in which the goal is to pass through a sequence of gates in a minimum amount of time while avoiding collisions. In autonomous drone racing, one must accomplish this task by flying fully autonomously in…
Drones have been widely utilized in various fields, but the number of drones being used illegally and for hazardous purposes has increased recently. To prevent those illegal drones, in this work, we propose a novel framework for…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…
Drones are being used in many industries for a variety of applications, including inspecting bridges, surveying farm land, and delivering cargo. Automating these kinds of scenarios requires more than following a sequence of GPS waypoints;…
This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements…
In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several…
Digital documentation of large interiors of historical buildings is an exhausting task since most of the areas of interest are beyond typical human reach. We advocate the use of autonomous teams of multi-rotor Unmanned Aerial Vehicles…
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…
This paper presents a novel system for autonomous, vision-based drone racing combining learned data abstraction, nonlinear filtering, and time-optimal trajectory planning. The system has successfully been deployed at the first autonomous…
Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms…
This paper presents a comprehensive methodology for implementing knowledge graphs in ROS 2 systems, aiming to enhance the efficiency and intelligence of autonomous robotic missions. The methodology encompasses several key steps: defining…
In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS-denied environments and in the vicinity of structures.…
Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…
Mission-oriented drone networks have been widely used for structural inspection, disaster monitoring, border surveillance, etc. Due to the limited battery capacity of drones, mission execution strategy impacts network performance and…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…
Multi-drone systems have become transformative technologies across various industries, offering innovative applications. However, despite significant advancements, their autonomous capabilities remain inherently limited. As a result, human…
Aerial vehicles are revolutionizing applications that require capturing the 3D structure of dynamic targets in the wild, such as sports, medicine, and entertainment. The core challenges in developing a motion-capture system that operates in…