Related papers: Star-Searcher: A Complete and Efficient Aerial Sys…
This paper presents a new swarm intelligence-based approach to deal with the cooperative path planning problem of unmanned aerial vehicles (UAVs), which is essential for the automatic inspection of infrastructure. The approach uses a 3D…
We present a novel predict-then-optimize framework for maritime search operations that integrates trajectory forecasting with UAV deployment optimization-an end-to-end approach not addressed in prior work. A large language model predicts…
This paper considers the complex problem of a team of UAVs searching targets under uncertainty. The goal of the UAV team is to find all of the moving targets as quickly as possible before they arrive at their selected goal. The uncertainty…
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles (UAVs). Recently, LiDAR-based exploration has gained significant attention due to its ability to generate high-precision point cloud maps…
In this paper, we present an autonomous unmanned aerial vehicle (UAV) landing system based on visual navigation. We design the landmark as a topological pattern in order to enable the UAV to distinguish the landmark from the environment…
The challenge of efficient target searching in vast natural environments has driven the need for advanced multi-UAV active search strategies. This paper introduces a novel method in which global and local information is adeptly merged to…
The stealth technology and unmanned aerial vehicles (UAVs) are expected to dominate current and future aerial warfare. The radar systems at their maximum operating ranges, however, are not always able to detect stealth and small UAVs mainly…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
Autonomous exploration in complex and cluttered environments is essential for various applications. However, there are many challenges due to the lack of global heuristic information. Existing exploration methods suffer from the repeated…
An unmanned autonomous vehicle (UAV) is sent on a mission to explore and reconstruct an unknown environment from a series of measurements collected by Bayesian optimization. The success of the mission is judged by the UAV's ability to…
In this paper, we study the problem of unsupervised object detection from 3D point clouds in self-driving scenes. We present a simple yet effective method that exploits (i) point clustering in near-range areas where the point clouds are…
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles. Existing methods, however, were demonstrated to insufficient exploration rate, due to the lack of efficient global coverage, conservative…
The process of identifying stars is integral toward stellar based orientation determination in spacecraft. Star identification involves matching points in an image of the sky with stars in an astronomical catalog. A unified framework for…
This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…
Many scenarios require a robot to be able to explore its 3D environment online without human supervision. This is especially relevant for inspection tasks and search and rescue missions. To solve this high-dimensional path planning problem,…
This paper considers the problem of searching for a point of interest (POI) moving along an urban road network with an uncrewed aerial vehicle (UAV). The UAV is modeled as a variable-speed Dubins vehicle with a line-of-sight sensor in an…
Stealthy multi-agent active search is the problem of making efficient sequential data-collection decisions to identify an unknown number of sparsely located targets while adapting to new sensing information and concealing the search agents'…
Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…
We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…