Related papers: Enabling Relative Localization for Nanodrone Swarm…
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without…
Sub-\SI{50}{\gram} nano-drones are gaining momentum in both academia and industry. Their most compelling applications rely on onboard deep learning models for perception despite severe hardware constraints (\ie sub-\SI{100}{\milli\watt}…
We introduce a benchmark for system identification based on 75k real-world samples from the Crazyflie 2.1 Brushless nano-quadrotor, a sub-50g aerial vehicle widely adopted in robotics research. The platform presents a challenging testbed…
The growing ubiquity of drones has raised concerns over the ability of traditional air-space monitoring technologies to accurately characterise such vehicles. Here, we present a CNN using a decision tree and ensemble structure to fully…
Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…
Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms…
Using drone base stations (drone-BSs) in wireless networks has started attracting attention. Drone-BSs can assist the ground BSs in both capacity and coverage enhancement. One of the important problems about integrating drone-BSs to…
The design of localization systems for small-scale flapping-wing aerial robots faces relevant challenges caused by the limited payload and onboard computational resources. This paper presents an ultra-wideband localization system…
For many applications, drones are required to operate entirely or partially autonomously. To fly completely or partially on their own, drones need access to location services to get navigation commands. While using the Global Positioning…
Teams of flying robots can be used for inspection, delivery, and construction tasks, in which they might be required to fly very close to each other. In such close-proximity cases, nonlinear aerodynamic effects can cause catastrophic…
Detecting small objects, such as drones, over long distances presents a significant challenge with broad implications for security, surveillance, environmental monitoring, and autonomous systems. Traditional imaging-based methods rely on…
In the area of multi-drone systems, navigating through dynamic environments from start to goal while providing collision-free trajectory and efficient path planning is a significant challenge. To solve this problem, we propose a novel…
Nano-drones, with their small, lightweight design, are ideal for confined-space rescue missions and inherently safe for human interaction. However, their limited payload restricts the critical sensing needed for ego-velocity estimation and…
We propose a novel self-supervised approach for learning to visually localize robots equipped with controllable LEDs. We rely on a few training samples labeled with position ground truth and many training samples in which only the LED state…
The miniaturisation of sensors and processors, the advancements in connected edge intelligence, and the exponential interest in Artificial Intelligence are boosting the affirmation of autonomous nano-size drones in the Internet of Robotic…
We propose a novel system SwarmCloak for landing of a fleet of four flying robots on the human arms using light-sensitive landing pads with vibrotactile feedback. We developed two types of wearable tactile displays with vibromotors which…
Drones are not fully trusted yet. Their reliance on radios and cameras for navigation raises safety and privacy concerns. These systems can fail, causing accidents, or be misused for unauthorized recordings. Considering recent regulations…
We consider the task of visually estimating the pose of a human from images acquired by a nearby nano-drone; in this context, we propose a data augmentation approach based on synthetic background substitution to learn a lightweight CNN…
Swarms of aerial drones have recently been considered for last-mile deliveries in urban logistics or automated construction. At the same time, collaborative transportation of payloads by multiple drones is another important area of recent…
Sub-10cm diameter nano-drones are gaining momentum thanks to their applicability in scenarios prevented to bigger flying drones, such as in narrow environments and close to humans. However, their tiny form factor also brings their major…