Related papers: A vision-based autonomous UAV inspection framework…
Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface coverage to ensure that all inspection targets are properly observed. Unmanned Aerial Vehicles (UAVs) offer an alternative to manual…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…
Obstacle avoidance in unmanned aerial vehicles (UAVs), as a fundamental capability, has gained increasing attention with the growing focus on spatial intelligence. However, current obstacle-avoidance methods mainly depend on limited…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
The usage of Unmanned Aerial Vehicles (UAVs) in the context of structural health inspection is recently gaining tremendous popularity. Camera mounted UAVs enable the fast acquisition of a large number of images often used for mapping, 3D…
Selecting safe landing sites in non-cooperative environments is a key step towards the full autonomy of UAVs. However, the existing methods have the common problems of poor generalization ability and robustness. Their performance in unknown…
Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However,…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
Unmanned Aerial Vehicle (UAV) based remote sensing system incorporated with computer vision has demonstrated potential for assisting building construction and in disaster management like damage assessment during earthquakes. The…
This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…
Unmanned Aerial Vehicles (UAVs) are transforming infrastructure inspections in the Architecture, Engineering, Construction, and Facility Management (AEC+FM) domain. By synthesizing insights from over 150 studies, this review paper…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…
Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
Reasons for mapping an unknown environment with autonomous robots are wide-ranging, but in practice, they are often overlooked when developing planning strategies. Rapid information gathering and comprehensive structural assessment of…