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This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…
Image Processing algorithms for vision-based navigation require reliable image simulation capacities. In this paper we explain why traditional rendering engines may present limitations that are potentially critical for space applications.…
Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink…
Unmanned aerial vehicle (UAV) corridor-assisted communication networks are expected to expand significantly in the upcoming years driven by several technological, regulatory, and societal trends. In this new type of networks, accurate and…
LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR…
Regression-based LiDAR relocalization has recently emerged as a promising solution for high-precision positioning in GNSS-denied environments. However, these methods are primarily tailored to autonomous driving, exhibiting significantly…
Reconstructing large-scale colored point clouds is an important task in robotics, supporting perception, navigation, and scene understanding. Despite advances in LiDAR inertial visual odometry (LIVO), its performance remains highly…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
The 4D millimeter-wave (mmWave) radar, with its robustness in extreme environments, extensive detection range, and capabilities for measuring velocity and elevation, has demonstrated significant potential for enhancing the perception…
Unmanned Aerial Vehicles (UAVs) have gained significant popularity in scene reconstruction. This paper presents SOAR, a LiDAR-Visual heterogeneous multi-UAV system specifically designed for fast autonomous reconstruction of complex…
In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR Road-Atlas can be generated by an online mapping framework…
As the number of Unmanned Aerial Vehicles (UAVs) operating in low-altitude airspace continues to increase, non-cooperative targets pose growing challenges to low-altitude operations. To address this issue, this paper proposes a…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
The swift advancement of unmanned aerial vehicle (UAV) technologies necessitates new standards for developing human-drone interaction (HDI) interfaces. Most interfaces for HDI, especially first-person view (FPV) goggles, limit the…
Cellular-connected UAV systems have enabled a wide range of low-altitude aerial services. However, these systems still face many challenges, such as frequent handovers and the inefficiency of traditional transport protocols. To better study…
Imaging system design is a complex, time-consuming, and largely manual process; LiDAR design, ubiquitous in mobile devices, autonomous vehicles, and aerial imaging platforms, adds further complexity through unique spatial and temporal…
The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes…
With the increasing prevalence of drones in various industries, the navigation and tracking of unmanned aerial vehicles (UAVs) in challenging environments, particularly GNSS-denied areas, have become crucial concerns. To address this need,…
The rapid development of autonomous driving and mobile mapping calls for off-the-shelf LiDAR SLAM solutions that are adaptive to LiDARs of different specifications on various complex scenarios. To this end, we propose MULLS, an efficient,…