Related papers: Fast Obstacle Avoidance Motion in SmallQuadcopter …
This research investigates the efficiency of Floyd algorithm for obstacle-free path planning for autonomous aerial vehicles (UAVs) or drones. Floyd algorithm is used to generate the shortest paths for UAVs to fly from any place to the…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a technique to distinguish dynamic obstacles from static ones with…
In autonomous robotics, a significant challenge involves devising robust solutions for Active Collaborative SLAM (AC-SLAM). This process requires multiple robots to cooperatively explore and map an unknown environment by intelligently…
The primary objective of a safe navigation algorithm is to guide the object from its current position to the target position while avoiding any collision with the en-route obstacles, and the appropriate obstacle avoidance strategies are the…
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…
The development of autonomous lightweight MAVs, capable of navigating in unknown indoor environments, is one of the major challenges in robotics. The complexity of this challenge comes from constraints on weight and power consumption of…
Autonomous aerial navigation in dense natural environments remains challenging due to limited visibility, thin and irregular obstacles, GNSS-denied operation, and frequent perceptual degradation. This work presents an improved deep…
In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…
Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV).…
Advanced Air Mobility (AAM) represents an evolution of the air transportation system by introducing low-altitude, potentially high-traffic environments. AAM operations will be enabled by both new aircraft, as well as new safety- and…
The rapid development of unmanned aerial vehicles (UAV) puts forward a higher requirement for autonomous obstacle avoidance. Due to the limited payload and power supply, small UAVs such as quadrotors usually carry simple sensors and…
Obstacle avoidance is a fundamental and challenging problem for autonomous navigation of mobile robots. In this paper, we consider the problem of obstacle avoidance in simple 3D environments where the robot has to solely rely on a single…
The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where most of the workspace remains fixed while a subset of…
This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans trajectories that avoid dynamic obstacles while also keeping them in the…
We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles…
QuadPlanes combine the range efficiency of fixed-wing aircraft with the maneuverability of multi-rotor platforms for long-range autonomous missions. In GPS-denied or cluttered urban environments, perception-based landing is vital for…
Urban Air Mobility (UAM) has emerged as a promising solution to alleviate urban congestion and transportation challenges. Nevertheless, the noise generated by eVTOL aircrafts poses a significant barrier to public acceptance and regulatory…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…