Related papers: Chasing Millimeters: Design, Navigation and State …
Design space exploration is an important but costly step involved in the design/deployment of custom architectures to squeeze out maximum possible performance and energy efficiency. Conventionally, optimizations require iterative sampling…
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…
Although fiducial markers give an accurate pose estimation in laboratory conditions, where the noisy factors are controlled, using them in field robotic applications remains a challenge. This is constrained to the fiducial maker systems,…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
Recent research has enabled fixed-wing unmanned aerial vehicles (UAVs) to maneuver in constrained spaces through the use of direct nonlinear model predictive control (NMPC). However, this approach has been limited to a priori known maps and…
Precision landing is a remaining challenge in autonomous drone flight. Fiducial markers provide a computationally cheap way for a drone to locate a landing pad and autonomously execute precision landings. However, most work in this field…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
In commercial autonomous service robots with several form factors, simultaneous localization and mapping (SLAM) is an essential technology for providing proper services such as cleaning and guidance. Such robots require SLAM algorithms…
Recent years have seen tremendous advancements in the area of autonomous payload delivery via unmanned aerial vehicles, or drones. However, most of these works involve delivering the payload at a predetermined location using its GPS…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…
We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…
Aircraft performance models play a key role in airline operations, especially in planning a fuel-efficient flight. In practice, manufacturers provide guidelines which are slightly modified throughout the aircraft life cycle via the tuning…
Aerial cinematography is revolutionizing industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely piloting a drone while filming a moving target in the presence of obstacles is…
Autonomous fixed-wing UAV landing based on differential GPS is now a mainstream providing reliable and precise landing. But the task still remains challenging when GPS availability is limited like for military UAVs. We discuss a solution of…
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…
In recent years, there has been a growing interest in using networks of Unmanned Aerial Vehicles (UAV) that collectively perform complex tasks for diverse applications. An important challenge in realizing UAV networks is the need for a…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…