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Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…
Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…
In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…
This paper presents a BIM-discrepancy-driven active sensing framework for cooperative navigation between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in dynamic construction environments. Traditional navigation…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a disturbance-aware motion planning and control framework…
In the last twenty years, unmanned aerial vehicles (UAVs) have garnered growing interest due to their expanding applications in both military and civilian domains. Detecting non-cooperative aerial vehicles with efficiency and estimating…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…
This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…
Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
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…
New methodologies will be needed to ensure the airspace remains safe and efficient as traffic densities rise to accommodate new unmanned operations. This paper explores how unmanned free-flight traffic may operate in dense airspace. We…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
Micro Aerial Vehicles (MAVs) navigation in subterranean environments is gaining attention in the field of aerial robotics, however there are still multiple challenges for collision free navigation in such harsh environments. This article…