Related papers: Drone Flight Path Architecture
A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this…
Drones can provide a minimally-constrained adapting camera view to support robot telemanipulation. Furthermore, the drone view can be automated to reduce the burden on the operator during teleoperation. However, existing approaches do not…
This paper presents a novel control strategy for drone networks to improve the quality of 3D structures reconstructed from aerial images by drones. Unlike the existing coverage control strategies for this purpose, our proposed approach…
In this work we consider UAVs as cooperative agents supporting human users in their operations. In this context, the 3D localisation of the UAV assistant is an important task that can facilitate the exchange of spatial information between…
This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest.…
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…
A robot navigating an outdoor environment with no prior knowledge of the space must rely on its local sensing to perceive its surroundings and plan. This can come in the form of a local metric map or local policy with some fixed horizon.…
Autonomous UAV path planning for 3D reconstruction has been actively studied in various applications for high-quality 3D models. However, most existing works have adopted explore-then-exploit, prior-based or exploration-based strategies,…
Unmanned aerial vehicles (UAVs) are emerging as key enablers for low-altitude wireless network (LAWN), particularly when terrestrial networks are unavailable. In such scenarios, the environmental topology is typically unknown; hence,…
Despite the growing impact of Unmanned Aerial Vehicles (UAVs) across various industries, most of current available solutions lack for a robust autonomous navigation system to deal with the appearance of obstacles safely. This work presents…
Unmanned aerial vehicles, and multi-rotors in particular, can now perform dexterous tasks in impervious environments, from infrastructure monitoring to emergency deliveries. Autonomous drone racing has emerged as an ideal benchmark to…
Unmanned aerial systems capable of beyond visual line of sight operation can be organized into a top-down hierarchy of layers including flight supervision, command and control, simulation of systems, operating systems, and physical…
Aerial robots play a vital role in various applications where the situational awareness of the robots concerning the environment is a fundamental demand. As one such use case, drones in GPS-denied environments require equipping with…
Path planning is a critical component in autonomous drone operations, enabling safe and efficient navigation through complex environments. Recent advances in foundation models, particularly large language models (LLMs) and vision-language…
In recent times, an increasing number of researchers have been devoted to utilizing deep neural networks for end-to-end flight navigation. This approach has gained traction due to its ability to bridge the gap between perception and…
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…
Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms…
Drone fleets, with counts on the order of O(100) to O(1000), will play important and significant roles in the automation of the deployment, operation, maintenance and repair of ubiquitous and pervasive landscape scale elongated structures,…
The growing ubiquity of drones has raised concerns over the ability of traditional air-space monitoring technologies to accurately characterise such vehicles. Here, we present a CNN using a decision tree and ensemble structure to fully…
We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D…