Related papers: A Vision-Based Algorithm for a Path Following Prob…
The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…
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…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
Visual active tracking is a growing research topic in robotics due to its key role in applications such as human assistance, disaster recovery, and surveillance. In contrast to passive tracking, active tracking approaches combine vision and…
This article considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and…
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
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…
We present a novel control strategy for a team of unmanned aerial vehicles (UAVs) to autonomously achieve a desired formation using only visual feedback provided by the UAV's onboard cameras. This effectively eliminates the need for global…
This paper describes how advanced deep learning based computer vision algorithms are applied to enable real-time on-board sensor processing for small UAVs. Four use cases are considered: target detection, classification and localization,…
This paper presents a decentralized, collision-free framework for path following guidance of multiple uncrewed aerial vehicles (UAVs), while maintaining uniform spacing along a reference path. A vector field-based guidance law is employed…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…
While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…
Unmanned aerial vehicle (UAV) tracking is critical for applications like surveillance, search-and-rescue, and autonomous navigation. However, the high-speed movement of UAVs and targets introduces unique challenges, including real-time…
This research paper presents a novel approach for navigating a micro UAV (Unmanned Aerial Vehicle) through narrow passages using only its onboard camera feed and a PID control system. The proposed method uses edge detection and homography…
Autonomous unmanned aerial vehicle (UAV) navigation in orchards presents significant challenges due to obstacles and GPS-deprived environments. In this work, we introduce a learning-based approach to achieve vision-based navigation of UAVs…
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…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…
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…