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Drone racing is becoming a popular sport where human pilots have to control their drones to fly at high speed through complex environments and pass a number of gates in a pre-defined sequence. In this paper, we develop an autonomous system…
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…
Sub-\SI{50}{\gram} nano-drones are gaining momentum in both academia and industry. Their most compelling applications rely on onboard deep learning models for perception despite severe hardware constraints (\ie sub-\SI{100}{\milli\watt}…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
Relative drone-to-drone localization is a fundamental building block for any swarm operations. We address this task in the context of miniaturized nano-drones, i.e., 10cm in diameter, which show an ever-growing interest due to novel use…
Drone detection is pivotal in numerous security and counter-UAV applications. However, existing deep learning-based methods typically struggle to balance robust feature representation with computational efficiency. This challenge is…
Autonomous navigation by drones using onboard sensors, combined with deep learning and computer vision algorithms, is impacting a number of domains. We examine the use of drones to autonomously follow and assist Visually Impaired People…
The advancement of autonomous drones, essential for sectors such as remote sensing and emergency services, is hindered by the absence of training datasets that fully capture the environmental challenges present in real-world scenarios,…
The development of autonomous lightweight MAVs, capable of navigating in unknown indoor environments, is one of the major challenges in robotics. The complexity of this challenge comes from constraints on weight and power consumption of…
We present fully autonomous source seeking onboard a highly constrained nano quadcopter, by contributing application-specific system and observation feature design to enable inference of a deep-RL policy onboard a nano quadcopter. Our…
Pocket-sized autonomous nano-drones can revolutionize many robotic use cases, such as visual inspection in narrow, constrained spaces, and ensure safer human-robot interaction due to their tiny form factor and weight -- i.e., tens of grams.…
Autonomous drone racing competitions are a proxy to improve unmanned aerial vehicles' perception, planning, and control skills. The recent emergence of autonomous nano-sized drone racing imposes new challenges, as their ~10cm form factor…
In recent years, drone detection has quickly become a subject of extreme interest: the potential for fast-moving objects of contained dimensions to be used for malicious intents or even terrorist attacks has posed attention to the necessity…
The evolution of AI and digital signal processing technologies, combined with affordable energy-efficient processors, has propelled the development of both hardware and software for drone applications. Nano-drones, which fit into the palm…
As radar sensors are being miniaturized, there is a growing interest for using them in indoor sensing applications such as indoor drone obstacle avoidance. In those novel scenarios, radars must perform well in dense scenes with a large…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
Small drones are an increasing threat to both military personnel and civilian infrastructure, making early and automated detection crucial. In this work we develop a system that uses spiking neural networks and neuromorphic cameras (event…
Autonomous aerial target tracking in unstructured and GPS-denied environments remains a fundamental challenge in robotics. Many existing methods rely on motion capture systems, pre-mapped scenes, or feature-based localization to ensure…
Unmanned Aerial Vehicles (UAVs), specifically drones equipped with remote sensing object detection technology, have rapidly gained a broad spectrum of applications and emerged as one of the primary research focuses in the field of computer…
Unmanned aerial vehicles (UAVs), commonly known as drones, are increasingly used across diverse domains, including logistics, agriculture, surveillance, and defense. While these systems provide numerous benefits, their misuse raises safety…