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Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, though convenient and quick to obtain,…
Unmanned aerial vehicles (UAVs), commonly known as drones, are being increasingly deployed throughout the globe as a means to streamline monitoring, inspection, mapping, and logistic routines. When dispatched on autonomous missions, drones…
The feasibility of performing airborne and ground manipulation, perception, and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats, SmallSats and more have been evaluated before. Among all of these solutions,…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
The development of computer vision algorithms for Unmanned Aerial Vehicles (UAVs) imagery heavily relies on the availability of annotated high-resolution aerial data. However, the scarcity of large-scale real datasets with pixel-level…
We present a unified pipeline architecture for a real-time detection system on an embedded system for UAVs. Neural architectures have been the industry standard for computer vision. However, most existing works focus solely on concatenating…
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…
Designing a controllable airship for non-expert users or preemptively evaluating the performance of desired airships has always been a very challenging problem. This paper explores the blimp design parameter space from the aspect of the…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
Unmanned Aerial Vehicle (UAV) based remote sensing system incorporated with computer vision has demonstrated potential for assisting building construction and in disaster management like damage assessment during earthquakes. The…
A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate such as road and weather conditions, errors in…
In this paper we present a vision based hardware-software control system enabling autonomous landing of a multirotor unmanned aerial vehicle (UAV). It allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60 fps video…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
We describe an application of belief networks to the diagnosis of bottlenecks in computer systems. The technique relies on a high-level functional model of the interaction between application workloads, the Windows NT operating system, and…
One of the major restrictions on the practical applications of unmanned aerial vehicles (UAV) is their incomplete self-sufficiency, which makes continuous operations infeasible without human oversights. The more oversight UAVs require, the…
Unmanned Aerial Vehicles (UAVs) have been emerging as an effective solution for IoT data collection networks thanks to their outstanding flexibility, mobility, and low operation costs. However, due to the limited energy and uncertainty from…
Achieving safe and robust autonomy is the key bottleneck on the path towards broader adoption of autonomous vehicles technology. This motivates going beyond extrinsic metrics such as miles between disengagement, and calls for approaches…
Autonomous vehicle (AV) stacks are typically built in a modular fashion, with explicit components performing detection, tracking, prediction, planning, control, etc. While modularity improves reusability, interpretability, and…
In modern networking research, infrastructure-assisted unmanned autonomous vehicles (UAVs) are actively considered for real-time learning-based surveillance and aerial data-delivery under unexpected 3D free mobility and coordination. In…
With the advent of technologies such as Edge computing, the horizons of remote computational applications have broadened multidimensionally. Autonomous Unmanned Aerial Vehicle (UAV) mission is a vital application to utilize remote…