Related papers: Optimizing Terrain Mapping and Landing Site Detect…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
This paper studies the problem of designing a certified vision-based state estimator for autonomous landing systems. In such a system, a neural network (NN) processes images from a camera to estimate the aircraft relative position with…
The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for search and rescue as well as remote sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of…
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…
Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and damaged infrastructure, where limited flight endurance must be…
An unmanned autonomous vehicle (UAV) is sent on a mission to explore and reconstruct an unknown environment from a series of measurements collected by Bayesian optimization. The success of the mission is judged by the UAV's ability to…
With the aim of bridging the gap between high quality reconstruction and mobile robot motion planning, we propose an efficient system that leverages the concept of adaptive-resolution volumetric mapping, which naturally integrates with 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 more robust technique to distinguish and track dynamic obstacles…
Search and rescue (SAR) missions require reliable search methods to locate survivors, especially in challenging or inaccessible environments. This is why introducing unmanned aerial vehicles (UAVs) can be of great help to enhance the…
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…
We consider multiple unmanned aerial vehicles (UAVs) serving a density of ground terminals (GTs) as base stations. The objective is to minimize the outage probability of GT-to-UAV transmissions. Optimal placement of UAVs under different UAV…
The increasing spreading of small commercial Unmanned Aerial Vehicles (UAVs, aka drones) presents serious threats for critical areas such as airports, power plants, governmental and military facilities. In fact, such UAVs can easily disturb…
In any spacecraft landing mission, fuel-efficient precision soft landing while avoiding nearby hazardous terrain is of utmost importance. Very few existing literature have attempted addressing both the problems of precision soft landing and…
Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a…
We consider the problem of minimizing a function over the manifold of orthogonal matrices. The majority of algorithms for this problem compute a direction in the tangent space, and then use a retraction to move in that direction while…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
Landing an unmanned aerial vehicle (UAV) on a ground marker is an open problem despite the effort of the research community. Previous attempts mostly focused on the analysis of hand-crafted geometric features and the use of external sensors…
This letter introduces a novel unmanned aerial vehicle (UAV)-intelligent reflecting surface (IRS) structure into near-field localization systems to enhance the design flexibility of IRS, thereby obtaining additional performance gains.…
This work presents a prototype of a multirotor aerial vehicle capable of precision landing, even under the effects of rotor failures. The manuscript presents the fault-tolerant techniques and mechanical designs to achieve a fault-tolerant…
Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…