Related papers: Towards Cooperative Flight Control Using Visual-At…
The decision logic for the ACAS X family of aircraft collision avoidance systems is represented as a large numeric table. Due to storage constraints of certified avionics hardware, neural networks have been suggested as a way to…
Advanced Driver-Assistance Systems (ADAS) have been attracting attention from many researchers. Vision-based sensors are the closest way to emulate human driver visual behavior while driving. In this paper, we explore possible ways to use…
The ability to converse with humans and follow natural language commands is crucial for intelligent unmanned aerial vehicles (a.k.a. drones). It can relieve people's burden of holding a controller all the time, allow multitasking, and make…
Recent research has proposed teleoperation of robotic and aerial vehicles using head motion tracked by a head-mounted display (HMD). First-person views of the vehicles are usually captured by onboard cameras and presented to users through…
Visual attention, derived from cognitive neuroscience, facilitates human perception on the most pertinent subset of the sensory data. Recently, significant efforts have been made to exploit attention schemes to advance computer vision…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Gesture recognition presents a promising avenue for interfacing with unmanned aerial vehicles (UAVs) due to its intuitive nature and potential for precise interaction. This research conducts a comprehensive comparative analysis of…
We develop a data-driven approach for runtime safety monitoring in flight testing, where pilots perform maneuvers on aircraft with uncertain parameters. Because safety violations can arise unexpectedly as a result of these uncertainties,…
This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…
Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and…
Joint attention is a core, early-developing form of social interaction. It is based on our ability to discriminate the third party objects that other people are looking at. While it has been shown that people can accurately determine…
The idea of using the recurrent neural network for visual attention has gained popularity in computer vision community. Although the recurrent attention model (RAM) leverages the glimpses with more large patch size to increasing its scope,…
Aerial manipulators (AMs) are gaining increasing attention in automated transportation and emergency services due to their superior dexterity compared to conventional multirotor drones. However, their practical deployment is challenged by…
In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…
Autonomous driving in high-speed racing, as opposed to urban environments, presents significant challenges in scene understanding due to rapid changes in the track environment. Traditional sequential network approaches may struggle to meet…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
Several key issues arise in implementing computer vision recognition of world objects in terms of Bayesian networks. Computational efficiency is a driving force. Perceptual networks are very deep, typically fifteen levels of structure.…
Multi-task missions for unmanned aerial vehicles (UAVs) involving inspection and landing tasks are challenging for novice pilots due to the difficulties associated with depth perception and the control interface. We propose a shared…
Existing models of human visual attention are generally unable to incorporate direct task guidance and therefore cannot model an intent or goal when exploring a scene. To integrate guidance of any downstream visual task into attention…
Autonomous motion capture (mocap) systems for outdoor scenarios involving flying or mobile cameras rely on i) a robotic front-end to track and follow a human subject in real-time while he/she performs physical activities, and ii) an…