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This paper presents a framework addressing the challenge of global localization in autonomous mobile robotics by integrating LiDAR-based descriptors and Wi-Fi fingerprinting in a pre-mapped environment. This is motivated by the increasing…
The large number and scale of natural and man-made disasters have led to an urgent demand for technologies that enhance the safety and efficiency of search and rescue teams. Semi-autonomous rescue robots are beneficial, especially when…
We present the Robotics Intelligent Systems & Control (RISC) Lab multiagent testbed for reliable search and rescue and aerial transport in outdoor environments. The system consists of a team of three multirotor unmanned aerial vehicles…
A mixed aerial and ground robot team, which includes both unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs), is widely used for disaster rescue, social security, precision agriculture, and military missions. However, team…
The breakthrough in AI and Machine Learning has brought a new revolution in robotics, resulting in the construction of more sophisticated robotic systems. Not only can these robotic systems benefit all domains, but also can accomplish tasks…
In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…
We present an integrated UAV-hexapod robotic system designed for GNSS-denied maritime operations, capable of autonomous deployment and retrieval of a hexapod robot via a winch mechanism installed on a UAV. This system is intended to address…
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…
Safe autonomous landing in urban cities is a necessity for the growing Unmanned Aircraft Systems (UAS) industry. In urgent situations, building rooftops, particularly flat rooftops, can provide local safe landing zones for small UAS. This…
As a consequence of global warming and climate change, the risk and extent of wildfires have been increasing in many areas worldwide. Warmer temperatures and drier conditions can cause quickly spreading fires and make them harder to…
The challenge of wildfire management and detection is recently gaining increased attention due to the increased severity and frequency of wildfires worldwide. Popular fire detection techniques such as satellite imaging and remote…
In this work, we present a pragmatic approach to enable unmanned aerial vehicle (UAVs) to autonomously perform highly complicated tasks of object pick and place. This paper is largely inspired by challenge-2 of MBZIRC 2020 and is primarily…
The explosive growth of spatial data and extensive utilization of spatial databases emphasize the necessity for the automated discovery of spatial knowledge. In modern times, spatial data mining has emerged as an area of voluminous…
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…
With increasing physical threats in recent years targeted at critical infrastructures, it is crucial to establish a reliable threat monitoring system integrating video surveillance and digital sensors based on cutting-edge technologies. A…
Wildfires are a disastrous phenomenon which cause damage to land, loss of property, air pollution, and even loss of human life. Due to the warmer and drier conditions created by climate change, more severe and uncontrollable wildfires are…
Safe autonomous landing for Unmanned Aerial Vehicles (UAVs) in populated areas is a crucial aspect for successful urban deployment, particularly in emergency landing situations. Nonetheless, validating autonomous landing in real scenarios…
In the past ten years, the use of 3D Time-of-Flight (ToF) LiDARs in mobile robotics has grown rapidly. Based on our accumulation of relevant research, this article systematically reviews and analyzes the use 3D ToF LiDARs in research and…
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and control strategies. Over the past decade, LiDAR technology has…
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…