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For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…

Post-disaster situations pose unique navigation challenges. One of those challenges is the unstructured nature of the environment, which makes it hard to layout paths for rescue vehicles. We propose the use of Uncrewed Aerial Vehicle (UAV)…

Selecting safe landing sites in non-cooperative environments is a key step towards the full autonomy of UAVs. However, the existing methods have the common problems of poor generalization ability and robustness. Their performance in unknown…

Localization can be achieved by different sensors and techniques such as a global positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this paper, we focus on the laser-based localization method for unmanned aerial vehicle…

In this paper, we present a subsystem, using Unmanned Aerial Vehicles (UAV), for search and rescue missions, focusing on people detection, face recognition and tracking of identified individuals. The proposed solution integrates a UAV with…

Autonomous unmanned aerial vehicle (UAV) navigation in orchards presents significant challenges due to obstacles and GPS-deprived environments. In this work, we introduce a learning-based approach to achieve vision-based navigation of UAVs…

Unmanned Aerial Vehicles (UAVs) have become essential tools in inspection and emergency response operations due to their high maneuverability and ability to access hard-to-reach areas. However, their limited battery life significantly…

Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly…

Reasons for mapping an unknown environment with autonomous robots are wide-ranging, but in practice, they are often overlooked when developing planning strategies. Rapid information gathering and comprehensive structural assessment of…

This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…

Accurate and reliable navigation is crucial for autonomous unmanned ground vehicle (UGV). However, current UGV datasets fall short in meeting the demands for advancing navigation and mapping techniques due to limitations in sensor…

Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by sensor uncertainty and platform-induced disturbances such as…

Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…

Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…

Unmanned Aerial Vehicles (UAVs) are indispensable for infrastructure inspection, surveillance, and related tasks, yet they also introduce critical security challenges. This survey provides a wide-ranging examination of the anti-UAV domain,…

In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is developed into a visual assistant in a marsupial co-robots team, collaborating with a tele-operated Unmanned Ground Vehicle (UGV) for robot operations in unstructured or…

With the advantage of high mobility, Unmanned Aerial Vehicles (UAVs) are used to fuel numerous important applications in computer vision, delivering more efficiency and convenience than surveillance cameras with fixed camera angle, scale…

Efficient localization plays a vital role in many modern applications of Unmanned Ground Vehicles (UGV) and Unmanned aerial vehicles (UAVs), which would contribute to improved control, safety, power economy, etc. The ubiquitous 5G NR (New…

This paper tackles the challenge of autonomous target search using unmanned aerial vehicles (UAVs) in complex unknown environments. To fill the gap in systematic approaches for this task, we introduce Star-Searcher, an aerial system…

The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes…