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Unmanned aerial vehicles (UAVs) have gained popularity due to their flexible mobility, on-demand deployment, and the ability to establish high probability line-of-sight wireless communication. As a result, UAVs have been extensively used as…
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles. Existing methods, however, were demonstrated to insufficient exploration rate, due to the lack of efficient global coverage, conservative…
It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
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…
This article presents novel designs of autonomous UAV prototypes specifically developed for inspecting GPS-denied tunnel construction environments with dynamic human and robotic presence. Our UAVs integrate advanced sensor suites and robust…
Path planning methods for autonomous unmanned aerial vehicles (UAVs) are typically designed for one specific type of mission. This work presents a method for autonomous UAV path planning based on deep reinforcement learning (DRL) that can…
Unmanned aerial vehicle (UAV) corridor-assisted communication networks are expected to expand significantly in the upcoming years driven by several technological, regulatory, and societal trends. In this new type of networks, accurate and…
Perching allows unmanned aerial vehicles (UAVs) to reduce energy consumption, remain anchored for surface sampling operations, or stably survey their surroundings. Previous efforts for perching on vertical surfaces have predominantly…
This paper studies a secrecy unmanned aerial vehicle (UAV) communication system with coordinated multi-point (CoMP) reception, in which one UAV sends confidential messages to a set of distributed ground nodes (GNs) that can cooperate in…
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…
Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…
Robotic mapping is attractive in many scientific applications that involve environmental surveys. This paper presents a system for localization and mapping of sparsely distributed surface features such as precariously balanced rocks (PBRs),…
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…
Multi-UAV collaborative 3D object detection can perceive and comprehend complex environments by integrating complementary information, with applications encompassing traffic monitoring, delivery services and agricultural management.…
The ability to perform autonomous exploration is essential for unmanned aerial vehicles (UAV) operating in unstructured or unknown environments where it is hard or even impossible to describe the environment beforehand. However, algorithms…
Applications of unmanned aerial vehicle (UAV) in logistics, agricultural automation, urban management, and emergency response are highly dependent on oriented object detection (OOD) to enhance visual perception. Although existing datasets…
Unmanned Aerial Vehicles (UAVs) are emerging as very important tools in search and rescue (SAR) missions at sea, enabling swift and efficient deployment for locating individuals or vessels in distress. The successful execution of these…
Accurate relative positioning is crucial for swarm aerial robotics, enabling coordinated flight and collision avoidance. Although vision-based tracking has been extensively studied, 3D LiDAR-based methods remain underutilized despite their…
This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…