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Autonomous Underwater Vehicles (AUVs) have advanced significantly in obstacle detection and path planning through sonar, cameras, and learning-based methods. However, safe and efficient navigation in cluttered environments remains…
The increase in the number of unmanned aerial vehicles a.k.a. drones pose several threats to public privacy, critical infrastructure and cyber security. Hence, detecting unauthorized drones is a significant problem which received attention…
Drones are a versatile platform for both amateur and professional photographers, enabling them to capture photos that are impossible to shoot with ground-based cameras. However, when guided by inexperienced pilots, they have a high…
Biological sensing and processing is asynchronous and sparse, leading to low-latency and energy-efficient perception and action. In robotics, neuromorphic hardware for event-based vision and spiking neural networks promises to exhibit…
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…
Safety and resilience are critical for autonomous unmanned aerial vehicles (UAVs). We introduce MAVFI, the micro aerial vehicles (MAVs) resilience analysis methodology to assess the effect of silent data corruption (SDC) on UAVs' mission…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
The safe operation of drone swarms beyond visual line of sight requires multiple safeguards to mitigate the risk of collision between drones flying in close-proximity scenarios. Cooperative navigation and flight coordination strategies that…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
Navigating toy drones through uncharted GPS-denied indoor spaces poses significant difficulties due to their reliance on GPS for location determination. In such circumstances, the necessity for achieving proper navigation is a primary…
We present a novel stereo vision algorithm that is capable of obstacle detection on a mobile-CPU processor at 120 frames per second. Our system performs a subset of standard block-matching stereo processing, searching only for obstacles at…
Autonomous flight of pocket drones is challenging due to the severe limitations on on-board energy, sensing, and processing power. However, tiny drones have great potential as their small size allows maneuvering through narrow spaces while…
Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown great advantages over preceding methods in support of urgent scenarios such as search and rescue (SAR) and wildfire detection. In these operations, search efficiency…
In recent years, drone detection has quickly become a subject of extreme interest: the potential for fast-moving objects of contained dimensions to be used for malicious intents or even terrorist attacks has posed attention to the necessity…
Drone detection is pivotal in numerous security and counter-UAV applications. However, existing deep learning-based methods typically struggle to balance robust feature representation with computational efficiency. This challenge is…
Safe highway autonomy for heavy trucks remains an open and unsolved challenge: due to long braking distances, scene understanding of hundreds of meters is required for anticipatory planning and to allow safe braking margins. However,…
To enable safe autonomous vehicle (AV) operations, it is critical that an AV's obstacle detection module can reliably detect obstacles that pose a safety threat (i.e., are safety-critical). It is therefore desirable that the evaluation…
In this paper, we address the challenge of navigating through unknown indoor environments using autonomous aerial robots within confined spaces. The core of our system involves the integration of key sensor technologies, including depth…
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…
Lightweight aerial swarms have potential applications in scenarios where larger drones fail to operate efficiently. The primary foundation for lightweight aerial swarms is efficient relative localization, which enables cooperation and…