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This companion paper provides artifacts and instructions on replicating the experiments in the ACM Multimedia 2024 paper entitled "Swarical: An Integrated Hierarchical Approach to Localizing Flying Light Specks." Swarm-based hierarchical,…
Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…
Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…
This paper presents a vision-only autonomous flight system for small UAVs operating in controlled indoor environments. The system combines semantic segmentation with monocular depth estimation to enable obstacle avoidance, scene…
We propose a novel human-drone interaction paradigm where a user directly interacts with a drone to light-paint predefined patterns or letters through hand gestures. The user wears a glove which is equipped with an IMU sensor to draw…
A drone monitoring system that integrates deep-learning-based detection and tracking modules is proposed in this work. The biggest challenge in adopting deep learning methods for drone detection is the limited amount of training drone…
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…
In this paper, we propose a novel indoor localization scheme that exploits ubiquitous visible lights, which are necessarily and densely deployed in almost all indoor environments. We unveil two phenomena of lights available for positioning:…
Drones equipped with cameras can significantly enhance human ability to perceive the world because of their remarkable maneuverability in 3D space. Ironically, object detection for drones has always been conducted in the 2D image space,…
Relative localization is an important ability for multiple robots to perform cooperative tasks in GPS-denied environment. This paper presents a novel autonomous positioning framework for monocular relative localization of multiple tiny…
Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms…
Recently, researchers in Machine Learning algorithms, Computer Vision scientists, engineers and others, showed a growing interest in 3D simulators as a mean to artificially create experimental settings that are very close to those in the…
Machine learning and automation are transforming scientific research, yet the implementation of self-driving laboratories (SDLs) remains costly and complex, and it remains difficult to learn how to use these facilities. To address this, we…
With recent advancements in drone technology, researchers are now considering the possibility of deploying small cells served by base stations mounted on flying drones. A major advantage of such drone small cells is that the operators can…
Visible light positioning(VLP) has gained prominence as a highly accurate indoor positioning technique. Few techniques consider the practical limitations of implementing VLP systems for indoor positioning. These limitations range from…
We study a cellular networking scenario, called DroneCells, where miniaturized base stations (BSs) are mounted on flying drones to serve mobile users. We propose that the drones never stop, and move continuously within the cell in a way…
In this work, we propose a dynamic landing solution without the need for onboard exteroceptive sensors and an expensive computation unit, where all localization and control modules are carried out on the ground in a non-inertial frame. Our…
Event cameras provide low-latency perception for only milliwatts of power. This makes them highly suitable for resource-restricted, agile robots such as small flying drones. Self-supervised learning based on contrast maximization holds…
Different from traditional static small cells, Drone Base Stations (DBSs) exhibit their own advantages, i.e., faster and cheaper to deploy, more flexibly reconfigured, and likely to have better communications channels owing to the presence…
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…