Related papers: Optimizing Terrain Mapping and Landing Site Detect…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…
This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…
The Mining industry considers the deployment of MAV for autonomous inspection of tunnels and shafts to increase safety and productivity. However, mines are challenging and harsh environments that have a direct effect on the degradation of…
Ballistic capture orbits offer safer Mars injection at longer transfer time. However, the search for such an extremely rare event is a computationally intensive process. Indeed, it requires the propagation of a grid sampling the whole…
In recent years, consumer Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel…
Low speed does not always guarantee safety in off-road driving. For instance, crossing a ditch may be risky at a low speed due to the risk of getting stuck, yet safe at a higher speed with a controlled, accelerated jump. Achieving such…
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However,…
Safe UAV emergency landing requires more than just identifying flat terrain; it demands understanding complex semantic risks (e.g., crowds, temporary structures) invisible to traditional geometric sensors. In this paper, we propose a novel…
Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…
Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
Recent advances in data-driven computer vision have enabled robust autonomous navigation capabilities for civil aviation, including automated landing and runway detection. However, ensuring that these systems meet the robustness and safety…
Autonomous landing of Unmanned Aerial Vehicles on maritime vessels is challenging due to the coupled motion of the vehicle and landing platform in open-sea conditions. This paper presents a reinforcement-learning-based approach for…
This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown stationary obstacles and additive modeling uncertainties.…
Uncrewed Aerial Vehicles (UAVs) have become a focal point of research, with both established companies and startups investing heavily in their development. This paper presents our iterative process in developing a robust autonomous…
Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural…
Autonomous landing of uncrewed aerial vehicles (UAVs) in unknown, dynamic environments poses significant safety challenges, particularly near people and infrastructure, as UAVs transition to routine urban and rural operations. Existing…
Landing safety is a challenge heavily engaging the research community recently, due to the increasing interest in applications availed by aerial vehicles. In this paper, we propose a landing safety pipeline based on state of the art object…
Terrain awareness is an essential milestone to enable truly autonomous off-road navigation. Accurately predicting terrain characteristics allows optimizing a vehicle's path against potential hazards. Recent methods use deep neural networks…
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…