Related papers: FoundLoc: Vision-based Onboard Aerial Localization…

Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…

In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…

Vision-Language Navigation (VLN) enables agents to navigate in complex environments by following natural language instructions grounded in visual observations. Although most existing work has focused on ground-based robots or outdoor…

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…

Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…

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…

With the rapid growth of the low-altitude economy, unmanned aerial vehicles (UAVs) have become key platforms for measurement and tracking in intelligent patrol systems. However, in GNSS-denied environments, localization schemes that rely…

Ground to aerial matching is a crucial and challenging task in outdoor robotics, particularly when GPS is absent or unreliable. Structures like buildings or large dense forests create interference, requiring GNSS replacements for global…

Autonomous underwater vehicles (AUVs) have been deployed for underwater exploration. However, its potential is confined by its limited on-board battery energy and data storage capacity. This problem has been addressed using docking systems…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…

In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and…

Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task. It needs to ensure collision-free path planning in real-time, especially when the multi-UAV systems can become very crowded on…

This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellite System (GNSS)-denied environments. The goal is to enable…

Regression-based LiDAR relocalization has recently emerged as a promising solution for high-precision positioning in GNSS-denied environments. However, these methods are primarily tailored to autonomous driving, exhibiting significantly…

We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…

Inspection systems utilizing unmanned aerial vehicles (UAVs) equipped with thermal cameras are increasingly popular for the maintenance of photovoltaic (PV) power plants. However, automation of the inspection task is a challenging problem…

Robust, high-precision global localization is fundamental to a wide range of outdoor robotics applications. Conventional fusion methods use low-accuracy pseudorange based GNSS measurements ($>>5m$ errors) and can only yield a coarse…

General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimize…

Autonomous landing of Unmanned Aerial Vehicles (UAVs) in crowded scenarios is crucial for successful deployment of UAVs in populated areas, particularly in emergency landing situations where the highest priority is to avoid hurting people.…