Related papers: Hardware-in-the-loop simulation of a UAV autonomou…
This paper describes the design and implementation of a ground-related odometry sensor suitable for micro aerial vehicles. The sensor is based on a ground-facing camera and a single-board Linux-based embedded computer with a multimedia…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…
This document describes the architecture and algorithms of a high fidelity fixed wing flight simulator intended to test and validate novel guidance, navigation, and control (GNC) algorithms for autonomous aircraft. It aims to replicate the…
Perception and control systems for autonomous vehicles are an active area of scientific and industrial research. These solutions should be characterised by high efficiency in recognising obstacles and other environmental elements in…
Most of hardware-assisted solutions for software security, program monitoring, and event-checking approaches require instrumentation of the target software, an operation which can be performed using an SBI (Static Binary Instrumentation) or…
Many overall safety factors need to be considered in the next generation of Urban Air Mobility (UAM) systems and addressing these can become the anchor point for such technology to reach consent for worldwide application. On the other hand,…
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…
An efficient hardware implementation for Simultaneous Localization and Mapping (SLAM) methods is of necessity for mobile autonomous robots with limited computational resources. In this paper, we propose a resource-efficient FPGA…
Randomized compiling (RC) is an efficient method for tailoring arbitrary Markovian errors into stochastic Pauli channels. However, the standard procedure for implementing the protocol in software comes with a large experimental overhead --…
A novel active fault-tolerant control (AFTC) scheme for a dual-system vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) during transition flight is proposed in this paper. The AFTC scheme is composed of a baseline control…
Autonomous unmanned aerial vehicle (UAV) inertial navigation exhibits an extreme dependency on the availability of global navigation satellite systems (GNSS) signals, without which it incurs in a slow but unavoidable position drift that may…
Over a couple of decades, space junk has increased rapidly, which has caused significant threats to the LEO operation satellites. An Active Debris Removal $(ADR)$ concept continuously evolves for space junk removal. One of the ADR methods…
Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…
Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…
This paper describes the development of a novel algorithm to tackle the problem of real-time video stabilization for unmanned aerial vehicles (UAVs). There are two main components in the algorithm: (1) By designing a suitable model for the…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
Unmanned aerial vehicle (UAV) with slung load system is a classic air transportation system. In practical applications, the suspension point of the slung load does not always align with the center of mass (CoM) of the UAV due to mission…
This study introduces a lightweight U-Net model optimized for real-time semantic segmentation of aerial images, targeting the efficient utilization of Commercial Off-The-Shelf (COTS) embedded computing platforms. We maintain the accuracy of…
We ported the firmware of the ARTIQ experiment control infrastructure to an embedded system based on a commercial Xilinx Zynq-7000 system-on-chip. It contains high-performance hardwired CPU cores integrated with FPGA fabric. As with…
As spatial intelligence continues to evolve, heterogeneous multi-agent systems-particularly the collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), have demonstrated strong potential in complex…